void annexCode(void)
{
int32_t tmp;
for (int axis = 0; axis < 3; axis++) {
tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (currentProfile->rcControlsConfig.deadband) {
if (tmp > currentProfile->rcControlsConfig.deadband) {
tmp -= currentProfile->rcControlsConfig.deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupPitchRoll(tmp);
} else if (axis == YAW) {
if (currentProfile->rcControlsConfig.yaw_deadband) {
if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
tmp -= currentProfile->rcControlsConfig.yaw_deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupYaw(tmp) * -1;
}
if (rcData[axis] < masterConfig.rxConfig.midrc) {
rcCommand[axis] = -rcCommand[axis];
}
}
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (FLIGHT_MODE(HEADFREE_MODE)) {
const float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
const float cosDiff = cos_approx(radDiff);
const float sinDiff = sin_approx(radDiff);
const int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!STATE(SMALL_ANGLE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating() || isSystemOverloaded()) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#if defined(NAV)
if (naivationBlockArming()) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#endif
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();
} else {
warningLedFlash();
}
warningLedUpdate();
}
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
gyro.temperature(&telemTemperature1);
}
/*
This function processes RX dependent coefficients when new RX commands are available
Those are: TPA, throttle expo
*/
static void updateRcCommands(void)
{
int32_t prop2;
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
} else {
prop2 = 100 - currentControlRateProfile->dynThrPID;
}
}
for (int axis = 0; axis < 3; axis++) {
int32_t prop1;
int32_t tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (rcControlsConfig()->deadband) {
if (tmp > rcControlsConfig()->deadband) {
tmp -= rcControlsConfig()->deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupPitchRoll(tmp);
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2. 100 means 100% of the pids
PIDweight[axis] = prop2;
} else {
if (rcControlsConfig()->yaw_deadband) {
if (tmp > rcControlsConfig()->yaw_deadband) {
tmp -= rcControlsConfig()->yaw_deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupYaw(tmp) * -rcControlsConfig()->yaw_control_direction;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * ABS(tmp) / 500;
// YAW TPA disabled.
PIDweight[axis] = 100;
}
#ifdef USE_PID_MW23
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)pidProfile()->P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)pidProfile()->I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)pidProfile()->D8[axis] * prop1 / 100;
#endif
if (rcData[axis] < rxConfig()->midrc) {
rcCommand[axis] = -rcCommand[axis];
}
}
int32_t tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck); // [MINCHECK;2000] -> [0;1000]
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
float cosDiff = cos_approx(radDiff);
float sinDiff = sin_approx(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
}
