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#include "main.h"
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#include "flightcontrol.h"
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int reference_altitude;                                 //Regelgröße
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int reference_accz;                                             //Regelgröße D-Anteil
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int reference_flow_x;
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int reference_flow_y;
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int altitude_differenz;                                 //Regelabweichung
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int altitude_differenz_sum = 0;                 //I-Glied
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int xDirection_differenz_sum = 0;
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int yDirection_differenz_sum = 0;
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int altitude_old;
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int altitude_velocity;
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int xDirection_old;
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int xDirection_velocity;
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int yDirection_old;
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int yDirection_velocity;
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float gas_correction_dpart;
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float gas_correction_ipart = 0.0;
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float gas_correction_ppart;
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float gas_correction_final;
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float nick_correction_dpart;
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float nick_correction_ipart = 0.0;
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float nick_correction_ppart;
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float nick_correction_final;
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float roll_correction_dpart;
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float roll_correction_ipart = 0.0;
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float roll_correction_ppart;
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float roll_correction_final;
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float pFactorGas = 0.3;                                 //Verstärkungsfaktor P
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float iFactorGas = 0.02;                                //Verstärkungsfaktor I
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float dFactorGas = 0.3;                                 //Verstärkungsfaktor D
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float pFactorNick = 0.2;                                //Verstärkungsfaktor P
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float iFactorNick = 0.02;                               //Verstärkungsfaktor I
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float dFactorNick = 0.3;                                //Verstärkungsfaktor D
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float pFactorRoll = 0.2;                                //Verstärkungsfaktor P
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float iFactorRoll = 0.02;                               //Verstärkungsfaktor I
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float dFactorRoll = 0.3;                                //Verstärkungsfaktor D
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//>> Performing Flight Correction
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//------------------------------------------------------------------------------------------------------
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void perform_flight_correction(){
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        reference_altitude = (int)(optical_flow_values.ground_distance*1000);                   //Regelgröße in mm
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        reference_flow_x += (int)(optical_flow_values.flow_comp_m_x*1000);
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        reference_flow_y += (int)(optical_flow_values.flow_comp_m_y*1000);
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        altitude_differenz = STARTING_ALTITUDE - reference_altitude;                                    //Regelabweichung in mm
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        if(reference_altitude != altitude_old){
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                altitude_velocity = (reference_altitude - altitude_old) / 0.1;
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        }
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        if(reference_flow_x != xDirection_old){
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                xDirection_velocity = (reference_flow_x - xDirection_old) / 0.1;
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        }
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        if(reference_flow_y != yDirection_old){
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                yDirection_velocity = (reference_flow_y - yDirection_old) / 0.1;
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        }
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        if(altitude_differenz_sum < 10000 && altitude_differenz_sum > -10000){
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                altitude_differenz_sum += altitude_differenz * 0.1;
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                if(altitude_differenz_sum > 9999){altitude_differenz_sum = 9999;}else
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                        if(altitude_differenz_sum < -9999){altitude_differenz_sum = -9999;}
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        }
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        if(xDirection_differenz_sum < 1000 && xDirection_differenz_sum > -1000){
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                xDirection_differenz_sum += reference_flow_x;
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                if(xDirection_differenz_sum > 9999){xDirection_differenz_sum = 9999;}else
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                        if(xDirection_differenz_sum < -9999){xDirection_differenz_sum = -9999;}
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        }
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        if(yDirection_differenz_sum < 1000 && yDirection_differenz_sum > -1000){
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                yDirection_differenz_sum += reference_flow_y;
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                if(yDirection_differenz_sum > 9999){yDirection_differenz_sum = 9999;}else
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                        if(yDirection_differenz_sum < -9999){yDirection_differenz_sum = -9999;}
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        }
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        //////////////////////////////////////////////////////////////////////////
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    // PID Regelung Gas
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        gas_correction_ipart = iFactorGas * altitude_differenz_sum;
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        gas_correction_dpart = dFactorGas * altitude_velocity *-1;
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        gas_correction_ppart = pFactorGas * altitude_differenz;
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        gas_correction_final = (gas_correction_ppart + gas_correction_dpart + gas_correction_ipart) / 10;
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        //////////////////////////////////////////////////////////////////////////
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        //////////////////////////////////////////////////////////////////////////
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    // PID Regelung Nick
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        nick_correction_ipart = iFactorNick * yDirection_differenz_sum;
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        nick_correction_dpart = dFactorNick * yDirection_velocity;
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        nick_correction_ppart = pFactorNick * reference_flow_y;
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        nick_correction_final = (nick_correction_ppart + nick_correction_dpart + nick_correction_ipart) / -10;
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        //////////////////////////////////////////////////////////////////////////
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        //////////////////////////////////////////////////////////////////////////
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    // PID Regelung Roll
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        roll_correction_ipart = iFactorRoll * xDirection_differenz_sum;
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        roll_correction_dpart = dFactorRoll * xDirection_velocity;
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        roll_correction_ppart = pFactorRoll * reference_flow_x;
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        roll_correction_final = (roll_correction_ppart + roll_correction_dpart + roll_correction_ipart) / -10;
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        //////////////////////////////////////////////////////////////////////////
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        //printf("Final: %f   PPART: %f   DPART: %f\n", nick_correction_final, nick_correction_ppart, nick_correction_dpart);
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        //////////////////////////////////////////////////////////////////////////
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    // Set Limits
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        if(gas_correction_final >= 20){
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                fc_correction_data.Gas = 20;
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        }else if(gas_correction_final <= -20){
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                fc_correction_data.Gas = -20;
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        }else{
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                fc_correction_data.Gas = gas_correction_final;
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        }
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        if(nick_correction_final >= 20){
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                fc_correction_data.Nick = 20;
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        }else if(nick_correction_final <= -20){
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                fc_correction_data.Nick = -20;
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        }else{
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                fc_correction_data.Nick = nick_correction_final;
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        }
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        if(roll_correction_final >= 20){
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                fc_correction_data.Roll = 20;
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        }else if(roll_correction_final <= -20){
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                fc_correction_data.Roll = -20;
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        }else{
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                fc_correction_data.Roll = roll_correction_final;
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        }
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        //printf("%d\n", reference_altitude/10);
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        printf("Final: %f   PPART: %f   DPART: %f   IPART: %f    Gas Correction: %d\n", gas_correction_final, gas_correction_ppart, gas_correction_dpart, gas_correction_ipart, fc_correction_data.Gas );
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        //printf("Final: %f   PPART: %f   DPART: %f   IPART: %f    Gas Correction: %d\n", nick_correction_final, nick_correction_ppart, nick_correction_dpart, nick_correction_ipart, fc_correction_data.Nick );
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        fc_correction_data.Gas = 0;
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        //fc_correction_data.Roll = 0;
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        //fc_correction_data.Nick = 0;
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        altitude_old = reference_altitude;
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        xDirection_old = reference_flow_x;
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        yDirection_old = reference_flow_y;
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}
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//>> Transmitting Correction Data
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//------------------------------------------------------------------------------------------------------
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u8 *flight_values_stream;
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serial_data_struct data_package_flightcontrol;
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void transmit_flight_data(){
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        flight_values_stream = (unsigned char *) &fc_correction_data;
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        //printf("Correction: %d\n", fc_correction_data.Gas);
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        for (int i = 0; i < sizeof(struct str_fc_correction_data); ++i)
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        {
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                data_package_flightcontrol.data[i] = flight_values_stream[i];
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        }
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        create_serial_frame(1, 'b', sizeof(struct str_fc_correction_data), &data_package_flightcontrol);
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        //printf("%s\n", data_package_flightcontrol.txrxdata);
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        transmit_data(TO_KOPTER, &data_package_flightcontrol);
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}
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//>> Resetting Flow and Altitude Values
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//------------------------------------------------------------------------------------------------------
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void reset_reference_values(){
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        reference_flow_x = 0.0;
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        reference_flow_y = 0.0;
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        reference_altitude = 0.0;
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}
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//>> Initializing flightcontrol
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//------------------------------------------------------------------------------------------------------
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void flightcontrol_init(){
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        fc_correction_data.Nick = 0;
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        fc_correction_data.Roll = 0;
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        fc_correction_data.Gier = 0;
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        fc_correction_data.Gas = 0;
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        fc_correction_data.Config = EC_VALID | EC_GAS_ADD | EC_IGNORE_RC;               //Ignore Remote Control
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}