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1 ingob 1
/*#######################################################################################
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Flight Control
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 27
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
683 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
683 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
683 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
1 ingob 42
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
492 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 51
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
683 killagreg 52
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 53
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
687 killagreg 54
#include <stdlib.h>
55
#include <avr/io.h>
1 ingob 56
 
57
#include "main.h"
685 killagreg 58
#include "eeprom.h"
59
#include "timer0.h"
60
#include "_Settings.h"
61
#include "analog.h"
62
#include "fc.h"
63
#include "gps.h"
64
#include "uart.h"
65
#include "rc.h"
66
#include "twimaster.h"
694 killagreg 67
#include "mm3.h"
1 ingob 68
 
173 holgerb 69
volatile unsigned int I2CTimeout = 100;
703 killagreg 70
// gyro readings
711 killagreg 71
volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
703 killagreg 72
// gyro neutral readings
73
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
74
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
75
// mean accelerations
76
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
77
 
78
// neutral acceleration readings
79
volatile int16_t NeutralAccX=0, NeutralAccY=0;
1 ingob 80
volatile float NeutralAccZ = 0;
81
 
703 killagreg 82
// attitude gyro integrals
83
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
84
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
85
volatile int32_t IntegralYaw = 0;
711 killagreg 86
volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;
87
volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;
88
volatile int32_t Reading_IntegralGyroYaw = 0,   Reading_IntegralGyroYaw2 = 0;
89
volatile int32_t MeanIntegralPitch;
90
volatile int32_t MeanIntegralRoll;
703 killagreg 91
 
92
// attitude acceleration integrals
711 killagreg 93
volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0;
703 killagreg 94
volatile int32_t Reading_Integral_Top = 0;
95
 
96
// compass course
97
volatile int16_t CompassHeading = 0;
98
volatile int16_t CompassCourse = 0;
99
volatile int16_t CompassOffCourse = 0;
100
 
101
// flags
102
uint8_t MotorsOn = 0;
733 killagreg 103
uint8_t EmergencyLanding = 0;
703 killagreg 104
 
105
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
106
 
706 killagreg 107
float Gyro_P_Factor;
108
float Gyro_I_Factor;
703 killagreg 109
 
110
volatile int16_t  DiffPitch, DiffRoll;
111
 
112
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
113
 
114
// setpoints for motors
115
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
116
 
117
// stick values derived by rc channels readings
707 killagreg 118
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
711 killagreg 119
int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0;
703 killagreg 120
// stick values derived by uart inputs
121
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20;
1 ingob 122
 
123
 
703 killagreg 124
 
711 killagreg 125
 
703 killagreg 126
int16_t ReadingHight = 0;
127
int16_t SetPointHight = 0;
128
 
129
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
130
 
131
float Ki =  FACTOR_I;
132
 
133
uint8_t Looping_Pitch = 0, Looping_Roll = 0;
134
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
135
 
136
 
137
fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};
138
 
139
 
140
/************************************************************************/
141
/*  Creates numbeeps beeps at the speaker                               */
142
/************************************************************************/
143
void Beep(uint8_t numbeeps)
1 ingob 144
{
703 killagreg 145
        while(numbeeps--)
146
        {
147
                if(MotorsOn) return; //auf keinen Fall im Flug!
148
                BeepTime = 100; // 0.1 second
149
                Delay_ms(250); // blocks 250 ms as pause to next beep,
150
                // this will block the flight control loop,
151
                // therefore do not use this funktion if motors are running
152
        }
1 ingob 153
}
154
 
703 killagreg 155
/************************************************************************/
156
/*  Neutral Readings                                                    */
157
/************************************************************************/
1 ingob 158
void SetNeutral(void)
159
{
683 killagreg 160
        NeutralAccX = 0;
1 ingob 161
        NeutralAccY = 0;
162
        NeutralAccZ = 0;
701 killagreg 163
    AdNeutralPitch = 0;
683 killagreg 164
        AdNeutralRoll = 0;
701 killagreg 165
        AdNeutralYaw = 0;
706 killagreg 166
    FCParam.Yaw_PosFeedback = 0;
167
    FCParam.Yaw_NegFeedback = 0;
701 killagreg 168
    CalibMean();
395 hbuss 169
    Delay_ms_Mess(100);
701 killagreg 170
        CalibMean();
703 killagreg 171
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Hight Control activated?
172
    {
173
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
174
    }
175
        AdNeutralPitch = AdValueGyrPitch;
176
        AdNeutralRoll  = AdValueGyrRoll;
177
        AdNeutralYaw   = AdValueGyrYaw;
178
        StartNeutralRoll  = AdNeutralRoll;
179
        StartNeutralPitch = AdNeutralPitch;
701 killagreg 180
    if(GetParamByte(PID_ACC_PITCH) > 4)
513 hbuss 181
    {
703 killagreg 182
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
183
                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
184
                NeutralAccZ = Current_AccZ;
513 hbuss 185
    }
683 killagreg 186
    else
703 killagreg 187
    {
188
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
189
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
190
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
513 hbuss 191
    }
711 killagreg 192
        Reading_IntegralGyroPitch = 0;
193
    Reading_IntegralGyroPitch2 = 0;
194
    Reading_IntegralGyroRoll = 0;
195
    Reading_IntegralGyroRoll2 = 0;
196
    Reading_IntegralGyroYaw = 0;
197
    Reading_GyroPitch = 0;
198
    Reading_GyroRoll = 0;
199
    Reading_GyroYaw = 0;
701 killagreg 200
    StartAirPressure = AirPressure;
703 killagreg 201
    HightD = 0;
701 killagreg 202
    Reading_Integral_Top = 0;
203
    CompassCourse = CompassHeading;
683 killagreg 204
    BeepTime = 50;
703 killagreg 205
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
206
        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
701 killagreg 207
    ExternHightValue = 0;
746 killagreg 208
    GPS_Neutral();
1 ingob 209
}
210
 
703 killagreg 211
/************************************************************************/
212
/*  Averaging Measurement Readings                                      */
213
/************************************************************************/
701 killagreg 214
void Mean(void)
683 killagreg 215
{
701 killagreg 216
    static int32_t tmpl,tmpl2;
401 hbuss 217
 
711 killagreg 218
 // Get offset corrected gyro readings (~ to angular velocity)
219
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
220
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
221
    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;
604 hbuss 222
 
711 killagreg 223
        DebugOut.Analog[26] = Reading_GyroPitch;
224
        DebugOut.Analog[28] = Reading_GyroRoll;
703 killagreg 225
 
226
// Acceleration Sensor
711 killagreg 227
        // sliding average sensor readings
703 killagreg 228
        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
229
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
230
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
231
 
711 killagreg 232
        // sum sensor readings for later averaging
701 killagreg 233
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
703 killagreg 234
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
235
    IntegralAccZ     += Current_AccZ - NeutralAccZ;
236
 
237
// Yaw
711 killagreg 238
        // calculate yaw gyro intergral (~ to rotation angle)
239
    Reading_IntegralGyroYaw  += Reading_GyroYaw;
240
    Reading_IntegralGyroYaw2 += Reading_GyroYaw;
241
        // Coupling fraction
703 killagreg 242
        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
243
        {
711 killagreg 244
                tmpl = Reading_IntegralGyroPitch / 4096L;
245
                tmpl *= Reading_GyroYaw;
706 killagreg 246
                tmpl *= FCParam.Yaw_PosFeedback;  //125
703 killagreg 247
                tmpl /= 2048L;
711 killagreg 248
                tmpl2 = Reading_IntegralGyroRoll / 4096L;
249
                tmpl2 *= Reading_GyroYaw;
706 killagreg 250
                tmpl2 *= FCParam.Yaw_PosFeedback;
703 killagreg 251
                tmpl2 /= 2048L;
252
        }
253
        else  tmpl = tmpl2 = 0;
711 killagreg 254
 
703 killagreg 255
// Roll
711 killagreg 256
        Reading_GyroRoll += tmpl;
257
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109
258
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
259
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
260
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
703 killagreg 261
        {
711 killagreg 262
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
263
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
703 killagreg 264
        }
711 killagreg 265
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
703 killagreg 266
        {
711 killagreg 267
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
268
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
703 killagreg 269
        }
711 killagreg 270
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
271
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
703 killagreg 272
        if(BoardRelease == 10)
711 killagreg 273
        {
274
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
275
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
276
        }
277
        else
278
        {
279
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
280
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
281
        }
703 killagreg 282
// Pitch
711 killagreg 283
        Reading_GyroPitch -= tmpl2;
284
        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
285
        Reading_IntegralGyroPitch2 += Reading_GyroPitch;
286
        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;
287
        if(Reading_IntegralGyroPitch > TurnOver180Pitch)
703 killagreg 288
        {
711 killagreg 289
         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L);
290
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
703 killagreg 291
        }
711 killagreg 292
        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)
703 killagreg 293
        {
711 killagreg 294
         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 10000L);
295
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
703 killagreg 296
        }
711 killagreg 297
        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;
298
        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;
703 killagreg 299
        if(BoardRelease == 10)
711 killagreg 300
        {
301
                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;
302
                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;
303
        }
304
        else
305
        {
306
                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;
307
                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;
308
        }
703 killagreg 309
 
310
// start ADC
683 killagreg 311
    ADC_Enable();
395 hbuss 312
 
711 killagreg 313
    IntegralYaw    = Reading_IntegralGyroYaw;
314
    IntegralPitch  = Reading_IntegralGyroPitch;
315
    IntegralRoll   = Reading_IntegralGyroRoll;
316
    IntegralPitch2 = Reading_IntegralGyroPitch2;
317
    IntegralRoll2  = Reading_IntegralGyroRoll2;
1 ingob 318
 
711 killagreg 319
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)
703 killagreg 320
        {
711 killagreg 321
                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);
322
                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);
323
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
324
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
703 killagreg 325
        }
711 killagreg 326
        //update poti values by rc-signals
690 killagreg 327
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
328
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
329
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
330
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
703 killagreg 331
        //limit poti values
1 ingob 332
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
333
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
334
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
335
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
336
}
337
 
703 killagreg 338
/************************************************************************/
339
/*  Averaging Measurement Readings  for Calibration                     */
340
/************************************************************************/
701 killagreg 341
void CalibMean(void)
683 killagreg 342
{
703 killagreg 343
    // stop ADC to avoid changing values during calculation
683 killagreg 344
        ADC_Disable();
703 killagreg 345
 
711 killagreg 346
        Reading_GyroPitch = AdValueGyrPitch;
347
        Reading_GyroRoll  = AdValueGyrRoll;
348
        Reading_GyroYaw   = AdValueGyrYaw;
703 killagreg 349
 
350
        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
711 killagreg 351
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
352
        Mean_AccTop   = (int32_t)AdValueAccTop;
353
    // start ADC
683 killagreg 354
    ADC_Enable();
703 killagreg 355
    //update poti values by rc-signals (why not +127?)
690 killagreg 356
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
357
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
358
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
359
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
703 killagreg 360
        //limit poti values
1 ingob 361
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
362
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
363
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
364
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
395 hbuss 365
 
703 killagreg 366
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
367
        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
1 ingob 368
}
369
 
703 killagreg 370
/************************************************************************/
371
/*  Transmit Motor Data via I2C                                         */
372
/************************************************************************/
1 ingob 373
void SendMotorData(void)
683 killagreg 374
{
701 killagreg 375
    if(MOTOR_OFF || !MotorsOn)
703 killagreg 376
    {
701 killagreg 377
        Motor_Rear = 0;
378
        Motor_Front = 0;
379
        Motor_Right = 0;
380
        Motor_Left = 0;
381
        if(MotorTest[0]) Motor_Front = MotorTest[0];
382
        if(MotorTest[1]) Motor_Rear = MotorTest[1];
383
        if(MotorTest[2]) Motor_Left = MotorTest[2];
384
        if(MotorTest[3]) Motor_Right = MotorTest[3];
703 killagreg 385
     }
1 ingob 386
 
741 killagreg 387
    //DebugOut.Analog[12] = Motor_Front;
388
    //DebugOut.Analog[13] = Motor_Rear;
389
    //DebugOut.Analog[14] = Motor_Left;
390
    //DebugOut.Analog[15] = Motor_Right;
1 ingob 391
 
392
    //Start I2C Interrupt Mode
393
    twi_state = 0;
394
    motor = 0;
726 killagreg 395
    I2C_Start();
1 ingob 396
}
397
 
398
 
399
 
703 killagreg 400
/************************************************************************/
401
/*  Maps the parameter to poti values                                   */
402
/************************************************************************/
403
void ParameterMapping(void)
1 ingob 404
{
405
 
711 killagreg 406
        #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
407
        CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255);
408
        CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100);
409
        CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100);
410
        CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255);
411
        CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
412
        CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
413
        CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
414
        CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
415
        CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
416
        CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
417
        CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
418
        CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
419
        CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
420
        CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
421
        CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
422
        CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
423
        CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
424
        CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
425
        CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
426
        CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
427
        CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
1 ingob 428
 
711 killagreg 429
        Ki = (float) FCParam.I_Factor * FACTOR_I;
1 ingob 430
}
431
 
432
 
706 killagreg 433
/************************************************************************/
434
/*  MotorControl                                                        */
435
/************************************************************************/
712 killagreg 436
void MotorControl(void)
1 ingob 437
{
711 killagreg 438
         int16_t MotorValue, pd_result, h, tmp_int;
439
         int16_t YawMixFraction, ThrustMixFraction;
706 killagreg 440
     static int32_t SumPitch = 0, SumRoll = 0;
711 killagreg 441
     static int32_t SetPointYaw = 0;
706 killagreg 442
     static int32_t IntegralErrorPitch = 0;
443
     static int32_t IntegralErrorRoll = 0;
444
         static uint16_t RcLostTimer;
445
         static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
446
         static uint16_t Modell_Is_Flying = 0;
447
         static uint8_t HightControlActive = 0;
711 killagreg 448
     static int16_t HightControlThrust = 0;
706 killagreg 449
     static int8_t TimerDebugOut = 0;
450
     static int8_t StoreNewCompassCourse = 0;
451
     static int32_t CorrectionPitch, CorrectionRoll;
1 ingob 452
 
701 killagreg 453
        Mean();
683 killagreg 454
 
1 ingob 455
    GRN_ON;
683 killagreg 456
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707 killagreg 457
// determine thrust value
683 killagreg 458
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 459
        ThrustMixFraction = StickThrust;
460
    if(ThrustMixFraction < 0) ThrustMixFraction = 0;
683 killagreg 461
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 462
// RC-signal is bad
683 killagreg 463
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 464
// SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation
465
// of a channel to previous frame is less than 1% the SenderOkay is incremented by 10.
466
// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80
467
// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame
468
// the main loop is running 11 times that decrements the SenderOkay by 11.
469
if(SenderOkay < 100)  // the rc-frame signal is not reveived or noisy
470
        {
471
                if(!PcAccess) // if also no PC-Access via UART
472
                {
473
                        if(BeepModulation == 0xFFFF)
474
                        {
475
                         BeepTime = 15000; // 1.5 seconds
476
                         BeepModulation = 0x0C00;
477
                        }
478
                }
479
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
480
                else // rc lost countdown finished
481
                {
482
                  MotorsOn = 0; // stop all motors
483
                  EmergencyLanding = 0; // emergency landing is over
484
                }
485
                ROT_ON; // set red led
486
                if(Modell_Is_Flying > 2000)  // wahrscheinlich in der Luft --> langsam absenken
487
                {
711 killagreg 488
                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust
706 killagreg 489
                        EmergencyLanding = 1; // enable emergency landing
490
                        // set neutral rc inputs
491
                        PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
492
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
493
                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
494
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
495
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
496
                }
497
                else MotorsOn = 0; // switch of all motors
498
        }
499
        else
683 killagreg 500
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 501
// RC-signal is good
683 killagreg 502
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 503
        if(SenderOkay > 140)
504
        {
505
                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
506
                // reset emergency timer
707 killagreg 507
                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
711 killagreg 508
                if(ThrustMixFraction > 40)
706 killagreg 509
                {
510
                        if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++;
511
                }
711 killagreg 512
                if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40))
706 killagreg 513
                {
514
                        SumPitch = 0;
515
                        SumRoll = 0;
711 killagreg 516
                        Reading_IntegralGyroYaw = 0;
517
                        Reading_IntegralGyroYaw2 = 0;
706 killagreg 518
                }
519
                // if motors are off and the thrust stick is in the upper position
707 killagreg 520
                if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)
706 killagreg 521
                {
522
                        // and if the yaw stick is in the leftmost position
523
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
683 killagreg 524
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 525
// calibrate the neutral readings of all attitude sensors
683 killagreg 526
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 527
                        {
528
                        if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
529
                        {
530
                                delay_neutral = 0;
531
                                GRN_OFF;
532
                                Modell_Is_Flying = 0;
533
                                // check roll/pitch stick position
534
                                // if pitch stick is topmost or roll stick is leftmost --> change parameter setting
535
                                // according to roll/pitch stick position
536
                                if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
537
                                {
538
                                         uint8_t setting = 1; // default
539
                                         //  _________
540
                                         // |2   3   4|
541
                                         // |         |
542
                                         // |1       5|
543
                                         // |         |
544
                                         // |_________|
545
                                         //
546
                                         // roll stick leftmost and pitch stick centered --> setting 1
547
                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
548
                                         // roll stick leftmost and pitch stick topmost --> setting 2
549
                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
550
                                         // roll stick centered an pitch stick topmost --> setting 3
551
                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
552
                                         // roll stick rightmost and pitch stick topmost --> setting 4
553
                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
554
                                         // roll stick rightmost and pitch stick centered --> setting 5
555
                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
556
                                         // update active parameter set in eeprom
557
                                         SetActiveParamSet(setting);
558
                                }
559
                                ParamSet_ReadFromEEProm(GetActiveParamSet());
560
                                SetNeutral();
561
                                Beep(GetActiveParamSet());
562
                                }
563
                        }
564
                        // and if the yaw stick is in the rightmost position
565
                        // save the ACC neutral setting to eeprom
566
            else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
567
                        {
568
                        if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
569
                                {
570
                                delay_neutral = 0;
571
                                GRN_OFF;
572
                                SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid
573
                                Modell_Is_Flying = 0;
574
                                SetNeutral();
575
                                // Save ACC neutral settings to eeprom
576
                                SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);
577
                                SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
578
                                SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
579
                                Beep(GetActiveParamSet());
580
                                }
581
                        }
582
            else delay_neutral = 0;
583
                }
683 killagreg 584
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 585
// thrust stick is down
683 killagreg 586
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707 killagreg 587
                if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)
706 killagreg 588
                {
683 killagreg 589
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 590
// and yaw stick is rightmost --> start motors
683 killagreg 591
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 592
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
593
                        {
594
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
595
                                {
596
                                        delay_startmotors = 200; // do not repeat if once executed
597
                                        Modell_Is_Flying = 1;
598
                                        MotorsOn = 1;
599
                                        SetPointYaw = 0;
711 killagreg 600
                                        Reading_IntegralGyroYaw = 0;
601
                                        Reading_IntegralGyroYaw2 = 0;
602
                                        Reading_IntegralGyroPitch = 0;
603
                                        Reading_IntegralGyroRoll = 0;
604
                                        Reading_IntegralGyroPitch2 = IntegralPitch;
605
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
706 killagreg 606
                                        SumPitch = 0;
607
                                        SumRoll = 0;
746 killagreg 608
                                        GPS_SetHomePosition();
706 killagreg 609
                                }
610
                        }
611
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
683 killagreg 612
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 613
// and yaw stick is leftmost --> stop motors
683 killagreg 614
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 615
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
616
                                {
617
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
618
                                {
619
                                        delay_stopmotors = 200; // do not repeat if once executed
620
                                        Modell_Is_Flying = 0;
621
                                        MotorsOn = 0;
1 ingob 622
 
706 killagreg 623
                                }
624
                        }
625
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
626
                        }
627
                }
683 killagreg 628
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 629
// new values from RC
683 killagreg 630
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 631
                if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
632
                {
633
                        int tmp_int;
634
                        ParameterMapping(); // remapping params (online poti replacement)
604 hbuss 635
 
706 killagreg 636
                        // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
637
                        StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
638
                        StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
639
                        StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
640
                        StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
595 hbuss 641
 
707 killagreg 642
                        // direct mapping of yaw and thrust
706 killagreg 643
                        StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
707 killagreg 644
                        StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers
614 hbuss 645
 
711 killagreg 646
                        // update max stick positions for pitch, roll and yaw
706 killagreg 647
                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
648
                                MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]);
649
                        else MaxStickPitch--;
650
                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
651
                                MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
652
                        else MaxStickRoll--;
711 killagreg 653
                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw)
654
                                MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
655
                        else MaxStickYaw--;
1 ingob 656
 
706 killagreg 657
                        // update gyro control loop factors
658
 
659
                        Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0;
660
                        Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000;
661
 
595 hbuss 662
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 663
// Digital Control via DubWise
595 hbuss 664
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 665
 
706 killagreg 666
                        #define KEY_VALUE (FCParam.UserParam1 * 4) // step width
667
                        if(DubWiseKeys[1]) BeepTime = 10;
668
                        if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
669
                        else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
670
                        else tmp_int = 0;
671
                        ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;
672
                        if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
673
                        else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
674
                        else tmp_int = 0;
675
                        ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
492 hbuss 676
 
706 killagreg 677
                        if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
678
                        if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
679
                        if(DubWiseKeys[0] & 2)  ExternHightValue++;
680
                        if(DubWiseKeys[0] & 16) ExternHightValue--;
681
 
682
                        StickPitch += ExternStickPitch / 8;
683
                        StickRoll += ExternStickRoll / 8;
684
                        StickYaw += ExternStickYaw;
685
 
595 hbuss 686
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 687
//+ Analoge Control via serial communication
595 hbuss 688
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 689
 
706 killagreg 690
                    if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)
691
                        {
692
                                 StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;
693
                                 StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
694
                                 StickYaw += ExternControl.Yaw;
695
                                 ExternHightValue =  (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain;
707 killagreg 696
                                 if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust;
706 killagreg 697
                        }
698
            // disable I part of gyro control feedback
699
                        if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
700
                        // avoid negative scaling factors
701
                        if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
702
                        if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
703
 
683 killagreg 704
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 705
// Looping?
683 killagreg 706
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 707
 
706 killagreg 708
                        if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
709
                        else
710
                        {
711
                         {
712
                          if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
713
                         }
714
                        }
715
                        if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
716
                        else
717
                        {
718
                        if(Looping_Right) // Hysterese
719
                         {
720
                          if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
721
                         }
722
                        }
395 hbuss 723
 
706 killagreg 724
                        if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
725
                        else
726
                        {
727
                        if(Looping_Top)  // Hysterese
728
                         {
729
                          if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
730
                         }
731
                        }
732
                        if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
733
                        else
734
                        {
735
                        if(Looping_Down) // Hysterese
736
                         {
737
                          if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
738
                         }
739
                        }
395 hbuss 740
 
706 killagreg 741
                        if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
742
                        if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
707 killagreg 743
                } // End of new RC-Values or Emergency Landing
173 holgerb 744
 
683 killagreg 745
 
706 killagreg 746
                if(Looping_Roll) BeepTime = 100;
747
                if(Looping_Roll || Looping_Pitch)
748
                {
711 killagreg 749
                if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit;
706 killagreg 750
                }
751
 
683 killagreg 752
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 753
// in case of emergency landing
683 killagreg 754
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707 killagreg 755
                // set all inputs to save values
706 killagreg 756
                if(EmergencyLanding)
757
                {
758
                        StickYaw = 0;
759
                        StickPitch = 0;
760
                        StickRoll = 0;
761
                        Gyro_P_Factor  = 0.5;
762
                        Gyro_I_Factor = 0.003;
763
                        Looping_Roll = 0;
764
                        Looping_Pitch = 0;
765
                        MaxStickPitch = 0;
766
                        MaxStickRoll = 0;
711 killagreg 767
                        MaxStickYaw = 0;
706 killagreg 768
                }
395 hbuss 769
 
683 killagreg 770
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 771
// Trim Gyro-Integrals to ACC-Signals
683 killagreg 772
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 773
 
711 killagreg 774
                #define BALANCE_NUMBER 256L
775
        // sum for averaging
776
                MeanIntegralPitch  += IntegralPitch;
706 killagreg 777
                MeanIntegralRoll  += IntegralRoll;
395 hbuss 778
 
706 killagreg 779
                if(Looping_Pitch || Looping_Roll) // if looping in any direction
780
                {
711 killagreg 781
                        // reset averaging for acc and gyro integral as well as gyro integral acc correction
782
                        MeasurementCounter = 0;
783
 
706 killagreg 784
                        IntegralAccPitch = 0;
785
                        IntegralAccRoll = 0;
711 killagreg 786
                        IntegralAccZ = 0;
787
 
706 killagreg 788
                        MeanIntegralPitch = 0;
789
                        MeanIntegralRoll = 0;
711 killagreg 790
 
791
                        Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
792
                        Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
793
 
706 killagreg 794
                        AttitudeCorrectionPitch = 0;
795
                        AttitudeCorrectionRoll = 0;
796
                }
797
 
683 killagreg 798
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 799
                if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction
800
                {
801
                        int32_t tmp_long, tmp_long2;
711 killagreg 802
                        // determine the deviation of gyro integral from averaged acceleration sensor
803
                        tmp_long   =  (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch);
804
                        tmp_long  /= 16;
805
                        tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll);
706 killagreg 806
                        tmp_long2 /= 16;
711 killagreg 807
 
706 killagreg 808
                        if((MaxStickPitch > 15) || (MaxStickRoll > 15))
809
                        {
711 killagreg 810
                                tmp_long  /= 3;
811
                                tmp_long2 /= 3;
706 killagreg 812
                        }
711 killagreg 813
                        if(MaxStickYaw > 25)
706 killagreg 814
                        {
711 killagreg 815
                                tmp_long  /= 3;
816
                                tmp_long2 /= 3;
706 killagreg 817
                        }
614 hbuss 818
 
707 killagreg 819
                        #define BALANCE 32
711 killagreg 820
                        // limit correction
707 killagreg 821
                        if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
822
                        if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
823
                        if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
824
                        if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
711 killagreg 825
                        // correct current readings
826
                        Reading_IntegralGyroPitch -= tmp_long;
827
                        Reading_IntegralGyroRoll -= tmp_long2;
706 killagreg 828
                }
683 killagreg 829
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 830
        // MeasurementCounter is incremented in the isr of analog.c
831
                if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
832
                {
833
                        static int cnt = 0;
834
                        static char last_n_p, last_n_n, last_r_p, last_r_n;
835
                        static long MeanIntegralPitch_old, MeanIntegralRoll_old;
469 hbuss 836
 
711 killagreg 837
                        // if not lopping in any direction (this should be alwais the case,
838
                        // because the Measurement counter is reset to 0 if looping in any direction is active.)
839
                        if(!Looping_Pitch && !Looping_Roll)
840
                        {
841
                                // Calculate mean value of the gyro integrals
842
                                MeanIntegralPitch /= BALANCE_NUMBER;
843
                                MeanIntegralRoll  /= BALANCE_NUMBER;
614 hbuss 844
 
711 killagreg 845
                                // Calculate mean of the acceleration values
846
                                IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER;
847
                                IntegralAccRoll  = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER;
848
                                IntegralAccZ     = IntegralAccZ / BALANCE_NUMBER;
395 hbuss 849
 
711 killagreg 850
                                // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
851
                                // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
852
                                IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch);
853
                                CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
854
                                AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER;
855
                                // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
856
                                // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
857
                                IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
858
                                CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
859
                                AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
498 hbuss 860
 
711 killagreg 861
                                if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25))
862
                                {
863
                                        AttitudeCorrectionPitch /= 2;
864
                                        AttitudeCorrectionRoll /= 2;
865
                                }
395 hbuss 866
 
711 killagreg 867
                // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
868
                // Gyro-Drift ermitteln
869
                // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
870
                                // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
871
                                IntegralErrorPitch  = IntegralPitch2 - IntegralPitch;
872
                                Reading_IntegralGyroPitch2 -= IntegralErrorPitch;
873
                                // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
874
                                IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
875
                                Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
395 hbuss 876
 
877
 
711 killagreg 878
                                DebugOut.Analog[17] = IntegralAccPitch / 26;
879
                                DebugOut.Analog[18] = IntegralAccRoll / 26;
880
                                DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
881
                                DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
882
                                DebugOut.Analog[21] = MeanIntegralPitch / 26;
883
                                DebugOut.Analog[22] = MeanIntegralRoll / 26;
884
                                //DebugOut.Analog[28] = CorrectionPitch;
885
                                DebugOut.Analog[29] = CorrectionRoll;
886
                                DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
395 hbuss 887
 
711 killagreg 888
                                #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
889
                                #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
890
                                #define MOVEMENT_LIMIT 20000
891
                // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
892
                                cnt = 1;// + labs(IntegralErrorPitch) / 4096;
893
                                CorrectionPitch = 0;
894
                                if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT)
895
                                {
896
                                        if(IntegralErrorPitch >  ERROR_LIMIT2)
897
                                        {
898
                                                if(last_n_p)
899
                                                {
900
                                                        cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
901
                                                        CorrectionPitch = IntegralErrorPitch / 8;
902
                                                        if(CorrectionPitch > 5000) CorrectionPitch = 5000;
903
                                                        AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
904
                                                }
905
                                                else last_n_p = 1;
906
                                        }
907
                                        else  last_n_p = 0;
908
                                        if(IntegralErrorPitch < -ERROR_LIMIT2)
909
                                        {
910
                                                if(last_n_n)
911
                                                {
912
                                                        cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
913
                                                        CorrectionPitch = IntegralErrorPitch / 8;
914
                                                        if(CorrectionPitch < -5000) CorrectionPitch = -5000;
915
                                                        AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
916
                                                }
917
                                                else last_n_n = 1;
918
                                        }
919
                                        else  last_n_n = 0;
920
                                }
921
                                else cnt = 0;
922
                                if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
923
                                // correct Gyro Offsets
924
                                if(IntegralErrorPitch >  ERROR_LIMIT)   AdNeutralPitch += cnt;
925
                                if(IntegralErrorPitch < -ERROR_LIMIT)   AdNeutralPitch -= cnt;
395 hbuss 926
 
711 killagreg 927
                // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
928
                                cnt = 1;// + labs(IntegralErrorPitch) / 4096;
929
                                CorrectionRoll = 0;
930
                                if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
931
                                {
932
                                        if(IntegralErrorRoll >  ERROR_LIMIT2)
933
                                        {
934
                                                if(last_r_p)
935
                                                {
936
                                                        cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
937
                                                        CorrectionRoll = IntegralErrorRoll / 8;
938
                                                        if(CorrectionRoll > 5000) CorrectionRoll = 5000;
939
                                                        AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
940
                                                }
941
                                                else last_r_p = 1;
942
                                        }
943
                                        else  last_r_p = 0;
944
                                        if(IntegralErrorRoll < -ERROR_LIMIT2)
945
                                        {
946
                                                if(last_r_n)
947
                                                {
948
                                                        cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
949
                                                        CorrectionRoll = IntegralErrorRoll / 8;
950
                                                        if(CorrectionRoll < -5000) CorrectionRoll = -5000;
951
                                                        AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
952
                                                }
953
                                                else last_r_n = 1;
954
                                        }
955
                                        else  last_r_n = 0;
956
                                }
957
                                else cnt = 0;
958
                                // correct Gyro Offsets
959
                                if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
960
                                if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
961
                                if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
401 hbuss 962
 
711 killagreg 963
                                DebugOut.Analog[27] = CorrectionRoll;
964
                                DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
965
                                DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
966
                        }
967
                        else // looping is active
968
                        {
969
                                AttitudeCorrectionRoll  = 0;
970
                                AttitudeCorrectionPitch = 0;
971
                        }
492 hbuss 972
 
711 killagreg 973
                        // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction
974
                        if(!Gyro_I_Factor)
975
                        {
976
                                AttitudeCorrectionRoll  = 0;
977
                                AttitudeCorrectionPitch = 0;
978
                        }
979
                // +++++++++++++++++++++++++++++++++++++++++++++++++++++
980
                        MeanIntegralPitch_old = MeanIntegralPitch;
981
                        MeanIntegralRoll_old  = MeanIntegralRoll;
982
                // +++++++++++++++++++++++++++++++++++++++++++++++++++++
983
                        // reset variables used for averaging
984
                        IntegralAccPitch = 0;
985
                        IntegralAccRoll = 0;
986
                        IntegralAccZ = 0;
987
                        MeanIntegralPitch = 0;
988
                        MeanIntegralRoll = 0;
989
                        MeasurementCounter = 0;
990
                } // end of averaging
614 hbuss 991
 
595 hbuss 992
 
683 killagreg 993
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 994
//  Yawing
683 killagreg 995
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 996
                if(MaxStickYaw > 20) // yaw stick is activated
997
                {   // if not fixed compass course is set update compass course
998
                        if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
999
                }
1000
                // exponential stick sensitivity in yawring rate
1001
                tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
1002
                tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
1003
                SetPointYaw = tmp_int;
1004
                Reading_IntegralGyroYaw -= tmp_int;
1005
                // limit the effect
1006
                if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
1007
                if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
683 killagreg 1008
 
1009
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1010
//  Compass
683 killagreg 1011
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1012
                if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
1013
                {
1014
                        int16_t w,v;
1015
                        static uint8_t updCompass = 0;
694 killagreg 1016
 
711 killagreg 1017
                        if (!updCompass--)
1018
                        {
1019
                                updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
1020
                                // get current compass heading (angule between MK head and magnetic north)
726 killagreg 1021
                                CompassHeading = MM3_Heading();
741 killagreg 1022
                                if (CompassHeading < 0) // no compass data available
1023
                                {
1024
                                        CompassOffCourse = 0;
1025
                                        if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem
1026
                                }
1027
                                else // calculate OffCourse (angular deviation from heading to course)
711 killagreg 1028
                                CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
1029
                        }
1 ingob 1030
 
711 killagreg 1031
                        // reduce compass effect with increasing declination
1032
                        w = abs(IntegralPitch / 512);
1033
                        v = abs(IntegralRoll  / 512);
1034
                        if(v > w) w = v; // get maximum declination
1035
                        // if declination is small enough update compass course if neccessary
1036
                        if(w < 35 && StoreNewCompassCourse)
1037
                        {
1038
                                CompassCourse = CompassHeading;
1039
                                StoreNewCompassCourse = 0;
1040
                        }
1041
                        w = (w * FCParam.CompassYawEffect) / 64;  // scale to parameter
1042
                        w = FCParam.CompassYawEffect - w; // reduce commpass effect with increasing declination
1043
                        if(w > 0) // if there is any compass effect (avoid negative compass feedback)
1044
                        {
727 killagreg 1045
                                Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32;
711 killagreg 1046
                        }
1047
                }
683 killagreg 1048
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
726 killagreg 1049
//  GPS
1050
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
741 killagreg 1051
                if((ParamSet.GlobalConfig & CFG_GPS_ACTIVE) && !EmergencyLanding)
726 killagreg 1052
                {
1053
                        GPS_P_Factor = FCParam.UserParam5;
1054
                        GPS_D_Factor = FCParam.UserParam6;
1055
                        GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data
1056
                }
1057
                else
1058
                {
746 killagreg 1059
                        GPS_Neutral();
726 killagreg 1060
                }
1061
 
1062
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1063
//  Debugwerte zuordnen
683 killagreg 1064
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1065
                if(!TimerDebugOut--)
1066
                {
1067
                        TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
1068
                        DebugOut.Analog[0]  = IntegralPitch / ParamSet.GyroAccFaktor;
1069
                        DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFaktor;
1070
                        DebugOut.Analog[2]  = Mean_AccPitch;
1071
                        DebugOut.Analog[3]  = Mean_AccRoll;
1072
                        DebugOut.Analog[4]  = Reading_GyroYaw;
1073
                        DebugOut.Analog[5]  = ReadingHight;
1074
                        DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
1075
                        DebugOut.Analog[8]  = CompassHeading;
1076
                        DebugOut.Analog[9]  = UBat;
1077
                        DebugOut.Analog[10] = SenderOkay;
1078
                        DebugOut.Analog[16] = Mean_AccTop;
173 holgerb 1079
 
711 killagreg 1080
                        /*    DebugOut.Analog[16] = motor_rx[0];
1081
                        DebugOut.Analog[17] = motor_rx[1];
1082
                        DebugOut.Analog[18] = motor_rx[2];
1083
                        DebugOut.Analog[19] = motor_rx[3];
1084
                        DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1085
                        DebugOut.Analog[20] /= 14;
1086
                        DebugOut.Analog[21] = motor_rx[4];
1087
                        DebugOut.Analog[22] = motor_rx[5];
1088
                        DebugOut.Analog[23] = motor_rx[6];
1089
                        DebugOut.Analog[24] = motor_rx[7];
1090
                        DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
1 ingob 1091
 
711 killagreg 1092
                        DebugOut.Analog[9]  = Reading_GyroPitch;
1093
                        DebugOut.Analog[9]  = SetPointHight;
1094
                        DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
1095
                        DebugOut.Analog[11] = CompassCourse;
1096
                        DebugOut.Analog[10] = FCParam.Gyro_I;
1097
                        DebugOut.Analog[10] = ParamSet.Gyro_I;
1098
                        DebugOut.Analog[9]  = CompassOffCourse;
1099
                        DebugOut.Analog[10] = ThrustMixFraction;
1100
                        DebugOut.Analog[3]  = HightD * 32;
1101
                        DebugOut.Analog[4]  = HightControlThrust;
1102
                        */
1103
                }
1104
 
683 killagreg 1105
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1106
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
683 killagreg 1107
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
604 hbuss 1108
 
711 killagreg 1109
                if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor;
1110
                else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor;
1111
                if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
1112
                else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
1113
                Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
1 ingob 1114
 
711 killagreg 1115
                DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor;
1116
                DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor);
1117
                DebugOut.Analog[28] = Reading_GyroRoll;
469 hbuss 1118
 
711 killagreg 1119
                // limit control feedback
1120
                #define MAX_SENSOR  2048
1121
                if(Reading_GyroPitch >  MAX_SENSOR) Reading_GyroPitch =  MAX_SENSOR;
1122
                if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR;
1123
                if(Reading_GyroRoll  >  MAX_SENSOR) Reading_GyroRoll  =  MAX_SENSOR;
1124
                if(Reading_GyroRoll  < -MAX_SENSOR) Reading_GyroRoll  = -MAX_SENSOR;
1125
                if(Reading_GyroYaw   >  MAX_SENSOR) Reading_GyroYaw   =  MAX_SENSOR;
1126
                if(Reading_GyroYaw   < -MAX_SENSOR) Reading_GyroYaw   = -MAX_SENSOR;
1 ingob 1127
 
683 killagreg 1128
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1129
// Hight Control
727 killagreg 1130
// The higth control algorithm reduces the thrust but does not increase the thrust.
683 killagreg 1131
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1132
                // If hight control is activated and no emergency landing is activre
1133
                if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) )
1134
                {
1135
                        int tmp_int;
1136
                        // if hight control is activated by an rc channel
1137
                        if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
1138
                        {       // check if parameter is less than activation threshold
1139
                                if(FCParam.MaxHight < 50)
1140
                                {
1141
                                        SetPointHight = ReadingHight - 20;  // update SetPoint with current reading
1142
                                        HightControlActive = 0; // disable hight control
1143
                                }
1144
                                else HightControlActive = 1; // enable hight control
1145
                        }
1146
                        else // no switchable hight control
1147
                        {
1148
                                SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20;
1149
                                HightControlActive = 1;
1150
                        }
1151
                        // get current hight
1152
                        h = ReadingHight;
1153
                        // if current hight is above the setpoint reduce thrust
1154
                        if((h > SetPointHight) && HightControlActive)
1155
                        {
1156
                                // hight difference -> P control part
1157
                                h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16;
1158
                                h = ThrustMixFraction - h; // reduce gas
1159
                                // higth gradient --> D control part
1160
                                h -= (HightD * FCParam.Hight_D) / 8;  // D control part
1161
                                // acceleration sensor effect
1162
                                tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32;
1163
                                if(tmp_int > 50) tmp_int = 50;
1164
                                if(tmp_int < -50) tmp_int = -50;
1165
                                h -= tmp_int;
1166
                                // update hight control thrust
1167
                                HightControlThrust = (HightControlThrust*15 + h) / 16;
1168
                                // limit thrust reduction
1169
                                if(HightControlThrust < ParamSet.Hight_MinThrust)
1170
                                {
1171
                                        if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust;
1172
                                        // allows landing also if thrust stick is reduced below min thrust on hight control
1173
                                        if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction;
1174
                                }
1175
                                // limit thrust to stick setting
1176
                                if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction;
1177
                                ThrustMixFraction = HightControlThrust;
1178
                        }
1179
                }
1180
                // limit thrust to parameter setting
1181
                if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20;
683 killagreg 1182
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1183
// + Mixer and PI-Controller
683 killagreg 1184
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1185
                DebugOut.Analog[7] = ThrustMixFraction;
683 killagreg 1186
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1187
// Yaw-Fraction
683 killagreg 1188
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1189
    YawMixFraction = Reading_GyroYaw - SetPointYaw;     // yaw controller
173 holgerb 1190
 
711 killagreg 1191
        // limit YawMixFraction
1192
    if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2;
1193
    if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2);
1194
    if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction));
1195
    if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction));
1196
    if(ThrustMixFraction < 20) YawMixFraction = 0;
683 killagreg 1197
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1198
// Pitch-Axis
683 killagreg 1199
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1200
    DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch);   // get difference
1201
    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control
1202
    else SumPitch += DiffPitch; // I-part for head holding
701 killagreg 1203
    if(SumPitch >  16000) SumPitch =  16000;
1204
    if(SumPitch < -16000) SumPitch = -16000;
711 killagreg 1205
    pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch
173 holgerb 1206
 
711 killagreg 1207
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1208
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1209
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1210
 
1211
        // Motor Front
1212
    MotorValue = ThrustMixFraction + pd_result + YawMixFraction;          // Mixer
701 killagreg 1213
        if ((MotorValue < 0)) MotorValue = 0;
707 killagreg 1214
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1215
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
701 killagreg 1216
        Motor_Front = MotorValue;
711 killagreg 1217
 
1218
 // Motor Rear
1219
        MotorValue = ThrustMixFraction - pd_result + YawMixFraction;     // Mixer
701 killagreg 1220
        if ((MotorValue < 0)) MotorValue = 0;
707 killagreg 1221
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1222
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
701 killagreg 1223
        Motor_Rear = MotorValue;
683 killagreg 1224
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1225
// Roll-Axis
683 killagreg 1226
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1227
        DiffRoll = Reading_GyroRoll - (StickRoll  - GPS_Roll);  // get difference
1228
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll  - GPS_Roll); // I-part for attitude control
1229
    else SumRoll += DiffRoll;  // I-part for head holding
701 killagreg 1230
    if(SumRoll >  16000) SumRoll =  16000;
1231
    if(SumRoll < -16000) SumRoll = -16000;
711 killagreg 1232
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
1233
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1234
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1235
    if(pd_result < -tmp_int) pd_result = -tmp_int;
604 hbuss 1236
 
711 killagreg 1237
    // Motor Left
1238
    MotorValue = ThrustMixFraction + pd_result - YawMixFraction;  // Mixer
701 killagreg 1239
        if ((MotorValue < 0)) MotorValue = 0;
707 killagreg 1240
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1241
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
701 killagreg 1242
    Motor_Left = MotorValue;
604 hbuss 1243
 
711 killagreg 1244
 // Motor Right
1245
        MotorValue = ThrustMixFraction - pd_result - YawMixFraction;  // Mixer
701 killagreg 1246
        if ((MotorValue < 0)) MotorValue = 0;
707 killagreg 1247
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1248
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
701 killagreg 1249
    Motor_Right = MotorValue;
1 ingob 1250
}
1251