transmitter_control.c File Reference

Handles R/C link and flight mode. More...

#include "openpilot.h"
#include "control.h"
#include "transmitter_control.h"
#include "pios_thread.h"
#include "altitudeholdsettings.h"
#include "baroaltitude.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "loitercommand.h"
#include "pathdesired.h"
#include "positionactual.h"
#include "receiveractivity.h"
#include "systemsettings.h"
#include "misc_math.h"

Go to the source code of this file.

Data Structures
struct	rcvr_activity_fsm

Macros
#define	ARMED_THRESHOLD   0.50f
#define	CONNECTION_OFFSET   250
#define	RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP   12
#define	RCVR_ACTIVITY_MONITOR_MIN_RANGE   20
#define	THRUST_BIDIR_THRESH   0.35f
#define	MIN_MEANINGFUL_RANGE   40
#define	RECEIVER_TIMER_FIRED   0xffffffff

Functions
static float	get_thrust_source (ManualControlCommandData *manual_control_command, bool always_fullrange)
static void	update_stabilization_desired (ManualControlCommandData *manual_control_command, ManualControlSettingsData *settings)
	In stabilization mode, set stabilization desired. More...
static void	set_flight_mode ()
	Determine which of N positions the flight mode switch is in and set flight mode accordingly. More...
static void	process_transmitter_events (ManualControlCommandData *cmd, ManualControlSettingsData *settings, bool valid, bool settings_updated)
	Process the inputs and determine whether to arm or not. More...
static void	set_manual_control_error (SystemAlarmsManualControlOptions errorCode)
static float	scaleChannel (int n, int16_t value)
static bool	validInputRange (int n, uint16_t value, uint16_t offset)
	Determine if the manual input value is within acceptable limits. More...
static uint32_t	timeDifferenceMs (uint32_t start_time, uint32_t end_time)
static void	resetRcvrActivity (struct rcvr_activity_fsm *fsm)
static bool	updateRcvrActivity (struct rcvr_activity_fsm *fsm)
static void	set_loiter_command (ManualControlCommandData *cmd)
bool	ok_to_arm (void)
	Determine if the aircraft is safe to arm based on alarms. More...
int	rssitype_to_channelgroup ()
	Convert a rssi type to the associated channel group. More...
int32_t	transmitter_control_initialize ()
	Initialize the transmitter control mode. More...
static bool	is_low_throttle_for_arming (ManualControlCommandData *manual_control_command)
static bool	channel_is_configured (int channel_num)
static void	perform_tc_settings_update ()
int32_t	transmitter_control_update ()
	Process inputs and arming. More...
int32_t	transmitter_control_select (bool reset_controller)
	Select and use transmitter control. More...
enum control_status	transmitter_control_get_status ()
	Get any control events. More...
uint8_t	transmitter_control_get_flight_mode ()
	Query what the flight mode would be if this is selected. More...
static bool	arming_position (ManualControlCommandData *cmd, ManualControlSettingsData *settings, bool low_throt)
static bool	disarming_position (ManualControlCommandData *cmd, ManualControlSettingsData *settings, bool low_throt)
static bool	disarm_commanded (ManualControlCommandData *cmd, ManualControlSettingsData *settings, bool low_throt)
static void	reset_receiver_timer ()
static bool	check_receiver_timer (uint32_t threshold)
static void	updateRcvrActivitySample (uintptr_t rcvr_id, uint16_t samples[], uint8_t max_channels)
static bool	updateRcvrActivityCompare (uintptr_t rcvr_id, struct rcvr_activity_fsm *fsm)
static float	scale_stabilization (StabilizationSettingsData *stabSettings, float cmd, SharedDefsStabilizationModeOptions mode, StabilizationDesiredStabilizationModeElem axis)

Variables
uintptr_t	pios_rcvr_group_map []
static ManualControlCommandData	cmd
static ManualControlSettingsData	settings
static uint8_t	disconnected_count = 0
static uint8_t	connected_count = 0
static struct rcvr_activity_fsm	activity_fsm
static uint32_t	lastActivityTime
static uint32_t	lastSysTime
static float	flight_mode_value
static enum control_status	control_status
static bool	settings_updated
static bool	thrust_is_bidir
static bool	collective_is_thrust
static uint32_t	receiver_timer = RECEIVER_TIMER_FIRED

Detailed Description

Handles R/C link and flight mode.

Author

dRonin, http://dRonin.org/, Copyright (C) 2015-2018

Tau Labs, http://taulabs.org, Copyright (C) 2012-2017

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

See Also

The GNU Public License (GPL) Version 3

Definition in file transmitter_control.c.