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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 04.2007 Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + www.MikroKopter.com |
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8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | 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. |
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11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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21 | // + eindeutig als Ursprung verlinkt werden |
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22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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24 | // + Benutzung auf eigene Gefahr |
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25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | 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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35 | // + from this software without specific prior written permission. |
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886 | 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) |
886 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 39 | // + with our written permission |
886 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
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831 | hbuss | 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
1 | ingob | 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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45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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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 |
886 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 54 | #include <stdlib.h> |
55 | #include <avr/io.h> |
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1 | ingob | 56 | |
57 | #include "main.h" |
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886 | killagreg | 58 | #include "eeprom.h" |
59 | #include "timer0.h" |
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60 | #include "_Settings.h" |
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61 | #include "analog.h" |
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62 | #include "fc.h" |
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63 | #include "uart.h" |
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64 | #include "rc.h" |
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65 | #include "twimaster.h" |
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66 | #include "timer2.h" |
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67 | #ifdef USE_KILLAGREG |
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68 | #include "mm3.h" |
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69 | #include "gps.h" |
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70 | #endif |
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908 | killagreg | 71 | #ifdef USE_MK3MAG |
886 | killagreg | 72 | #include "mk3mag.h" |
908 | killagreg | 73 | #include "gps.h" |
886 | killagreg | 74 | #endif |
75 | #include "led.h" |
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1 | ingob | 76 | |
886 | killagreg | 77 | volatile uint16_t I2CTimeout = 100; |
78 | // gyro readings |
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79 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
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80 | // gyro neutral readings |
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81 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
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82 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
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83 | // mean accelerations |
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84 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
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85 | |||
86 | // neutral acceleration readings |
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87 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
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1 | ingob | 88 | volatile float NeutralAccZ = 0; |
89 | |||
886 | killagreg | 90 | // attitude gyro integrals |
91 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
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92 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
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93 | volatile int32_t IntegralYaw = 0; |
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94 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
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95 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
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96 | volatile int32_t Reading_IntegralGyroYaw = 0; |
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97 | volatile int32_t MeanIntegralPitch; |
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98 | volatile int32_t MeanIntegralRoll; |
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1 | ingob | 99 | |
886 | killagreg | 100 | // attitude acceleration integrals |
101 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
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102 | volatile int32_t Reading_Integral_Top = 0; |
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103 | |||
104 | // compass course |
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105 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
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106 | volatile int16_t CompassCourse = -1; |
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107 | volatile int16_t CompassOffCourse = 0; |
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108 | volatile uint8_t CompassCalState = 0; |
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109 | uint8_t FunnelCourse = 0; |
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110 | uint16_t BadCompassHeading = 500; |
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111 | int32_t YawGyroHeading; |
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112 | int16_t YawGyroDrift; |
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113 | |||
114 | |||
115 | int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
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116 | |||
117 | |||
118 | // flags |
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119 | uint8_t MotorsOn = 0; |
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120 | uint8_t EmergencyLanding = 0; |
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121 | uint16_t Model_Is_Flying = 0; |
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122 | |||
123 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
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124 | |||
125 | float Gyro_P_Factor; |
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126 | float Gyro_I_Factor; |
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127 | |||
128 | volatile int16_t DiffPitch, DiffRoll; |
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129 | |||
130 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
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131 | |||
132 | // setpoints for motors |
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133 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
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134 | |||
135 | // stick values derived by rc channels readings |
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136 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
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137 | int16_t GPS_Pitch = 0, GPS_Roll = 0; |
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138 | |||
139 | int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
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140 | // stick values derived by uart inputs |
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141 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
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142 | |||
143 | |||
144 | |||
145 | |||
146 | int16_t ReadingHeight = 0; |
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147 | int16_t SetPointHeight = 0; |
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148 | |||
149 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
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150 | |||
151 | float Ki = FACTOR_I; |
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152 | |||
153 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
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154 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
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155 | |||
156 | |||
157 | 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}; |
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158 | |||
159 | |||
160 | /************************************************************************/ |
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161 | /* Creates numbeeps beeps at the speaker */ |
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162 | /************************************************************************/ |
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163 | void Beep(uint8_t numbeeps) |
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1 | ingob | 164 | { |
886 | killagreg | 165 | while(numbeeps--) |
166 | { |
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167 | if(MotorsOn) return; //auf keinen Fall im Flug! |
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168 | BeepTime = 100; // 0.1 second |
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169 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
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170 | // this will block the flight control loop, |
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171 | // therefore do not use this funktion if motors are running |
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172 | } |
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1 | ingob | 173 | } |
174 | |||
886 | killagreg | 175 | /************************************************************************/ |
176 | /* Neutral Readings */ |
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177 | /************************************************************************/ |
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1 | ingob | 178 | void SetNeutral(void) |
179 | { |
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886 | killagreg | 180 | NeutralAccX = 0; |
1 | ingob | 181 | NeutralAccY = 0; |
182 | NeutralAccZ = 0; |
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886 | killagreg | 183 | AdNeutralPitch = 0; |
184 | AdNeutralRoll = 0; |
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185 | AdNeutralYaw = 0; |
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186 | FCParam.Yaw_PosFeedback = 0; |
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187 | FCParam.Yaw_NegFeedback = 0; |
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188 | CalibMean(); |
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395 | hbuss | 189 | Delay_ms_Mess(100); |
886 | killagreg | 190 | CalibMean(); |
191 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
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513 | hbuss | 192 | { |
886 | killagreg | 193 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
513 | hbuss | 194 | } |
886 | killagreg | 195 | AdNeutralPitch = AdValueGyrPitch; |
196 | AdNeutralRoll = AdValueGyrRoll; |
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197 | AdNeutralYaw = AdValueGyrYaw; |
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198 | StartNeutralRoll = AdNeutralRoll; |
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199 | StartNeutralPitch = AdNeutralPitch; |
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200 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
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513 | hbuss | 201 | { |
886 | killagreg | 202 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
203 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
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204 | NeutralAccZ = Current_AccZ; |
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513 | hbuss | 205 | } |
886 | killagreg | 206 | else |
207 | { |
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208 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
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209 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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210 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
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211 | } |
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212 | Reading_IntegralGyroPitch = 0; |
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213 | Reading_IntegralGyroPitch2 = 0; |
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214 | Reading_IntegralGyroRoll = 0; |
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215 | Reading_IntegralGyroRoll2 = 0; |
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216 | Reading_IntegralGyroYaw = 0; |
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217 | Reading_GyroPitch = 0; |
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218 | Reading_GyroRoll = 0; |
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219 | Reading_GyroYaw = 0; |
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220 | StartAirPressure = AirPressure; |
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221 | HeightD = 0; |
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222 | Reading_Integral_Top = 0; |
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223 | CompassCourse = CompassHeading; |
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224 | BeepTime = 50; |
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225 | TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
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226 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
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227 | ExternHeightValue = 0; |
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228 | GPS_Pitch = 0; |
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229 | GPS_Roll = 0; |
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230 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
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231 | YawGyroDrift = 0; |
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1 | ingob | 232 | } |
233 | |||
886 | killagreg | 234 | /************************************************************************/ |
235 | /* Averaging Measurement Readings */ |
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236 | /************************************************************************/ |
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237 | void Mean(void) |
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238 | { |
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239 | static int32_t tmpl,tmpl2; |
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401 | hbuss | 240 | |
886 | killagreg | 241 | // Get offset corrected gyro readings (~ to angular velocity) |
242 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
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243 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
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244 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
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604 | hbuss | 245 | |
886 | killagreg | 246 | // Acceleration Sensor |
247 | // sliding average sensor readings |
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248 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
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249 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
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250 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
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251 | |||
252 | // sum sensor readings for later averaging |
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253 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
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254 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
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255 | |||
256 | NaviAccPitch += AdValueAccPitch; |
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257 | NaviAccRoll += AdValueAccRoll; |
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805 | hbuss | 258 | NaviCntAcc++; |
882 | hbuss | 259 | |
886 | killagreg | 260 | // Yaw |
261 | // calculate yaw gyro integral (~ to rotation angle) |
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262 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
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263 | YawGyroHeading += Reading_GyroYaw; |
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264 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
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265 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
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395 | hbuss | 266 | |
1 | ingob | 267 | |
886 | killagreg | 268 | // Coupling fraction |
269 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
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270 | { |
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271 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
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272 | tmpl *= FCParam.Yaw_PosFeedback; |
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273 | tmpl /= 4096L; |
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274 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
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275 | tmpl2 *= FCParam.Yaw_PosFeedback; |
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276 | tmpl2 /= 4096L; |
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277 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
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278 | } |
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279 | else tmpl = tmpl2 = 0; |
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280 | |||
281 | // Roll |
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282 | Reading_GyroRoll += tmpl; |
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283 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
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284 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
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285 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
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286 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
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287 | { |
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288 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
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289 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
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290 | } |
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291 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
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292 | { |
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293 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
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294 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
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295 | } |
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296 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
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297 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
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298 | if(BoardRelease == 10) |
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299 | { |
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300 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
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301 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
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302 | } |
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303 | else |
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304 | { |
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305 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
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306 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
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307 | } |
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308 | // Pitch |
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309 | Reading_GyroPitch -= tmpl2; |
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310 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
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311 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
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312 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
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313 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
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314 | { |
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315 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
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316 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
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317 | } |
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318 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
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319 | { |
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320 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
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321 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
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322 | } |
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323 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
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324 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
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325 | if(BoardRelease == 10) |
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326 | { |
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327 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
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328 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
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329 | } |
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330 | else |
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331 | { |
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332 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
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333 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
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334 | } |
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335 | |||
336 | // start ADC again to capture measurement values for the next loop |
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337 | ADC_Enable(); |
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338 | |||
339 | IntegralYaw = Reading_IntegralGyroYaw; |
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340 | IntegralPitch = Reading_IntegralGyroPitch; |
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341 | IntegralRoll = Reading_IntegralGyroRoll; |
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342 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
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343 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
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344 | |||
345 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
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346 | { |
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347 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
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348 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
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349 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
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350 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
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351 | } |
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1 | ingob | 352 | } |
353 | |||
886 | killagreg | 354 | /************************************************************************/ |
355 | /* Averaging Measurement Readings for Calibration */ |
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356 | /************************************************************************/ |
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357 | void CalibMean(void) |
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358 | { |
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359 | // stop ADC to avoid changing values during calculation |
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360 | ADC_Disable(); |
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395 | hbuss | 361 | |
886 | killagreg | 362 | Reading_GyroPitch = AdValueGyrPitch; |
363 | Reading_GyroRoll = AdValueGyrRoll; |
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364 | Reading_GyroYaw = AdValueGyrYaw; |
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365 | |||
366 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
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367 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
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368 | Mean_AccTop = (int32_t)AdValueAccTop; |
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369 | // start ADC (enables internal trigger so that the ISR in analog.c |
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370 | // updates the readings once) |
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371 | ADC_Enable(); |
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372 | |||
373 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
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374 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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1 | ingob | 375 | } |
376 | |||
886 | killagreg | 377 | /************************************************************************/ |
378 | /* Transmit Motor Data via I2C */ |
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379 | /************************************************************************/ |
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1 | ingob | 380 | void SendMotorData(void) |
886 | killagreg | 381 | { |
382 | if(MOTOR_OFF || !MotorsOn) |
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383 | { |
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384 | Motor_Rear = 0; |
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385 | Motor_Front = 0; |
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386 | Motor_Right = 0; |
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387 | Motor_Left = 0; |
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388 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
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389 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
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390 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
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391 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
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392 | } |
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1 | ingob | 393 | |
886 | killagreg | 394 | DebugOut.Analog[12] = Motor_Front; |
395 | DebugOut.Analog[13] = Motor_Rear; |
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396 | DebugOut.Analog[14] = Motor_Left; |
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397 | DebugOut.Analog[15] = Motor_Right; |
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1 | ingob | 398 | |
399 | //Start I2C Interrupt Mode |
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400 | twi_state = 0; |
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401 | motor = 0; |
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886 | killagreg | 402 | I2C_Start(); |
1 | ingob | 403 | } |
404 | |||
405 | |||
406 | |||
886 | killagreg | 407 | /************************************************************************/ |
408 | /* Maps the parameter to poti values */ |
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409 | /************************************************************************/ |
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410 | void ParameterMapping(void) |
||
1 | ingob | 411 | { |
886 | killagreg | 412 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
413 | // else the last updated values are used |
||
414 | { |
||
415 | //update poti values by rc-signals |
||
416 | #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;} |
||
417 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
||
418 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
||
419 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
||
420 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
||
421 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
||
422 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
||
423 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
||
424 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
||
425 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
||
426 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
||
427 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
||
428 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
||
429 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
||
430 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
||
431 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
||
432 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
||
433 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
||
434 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
||
435 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
||
436 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
||
437 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
||
438 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
||
439 | } |
||
440 | } |
||
1 | ingob | 441 | |
442 | |||
886 | killagreg | 443 | void SetCompassCalState(void) |
444 | { |
||
445 | static uint8_t stick = 1; |
||
446 | |||
447 | // if pitch is centered or top set stick to zero |
||
448 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
||
449 | // if pitch is down trigger to next cal state |
||
450 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick) |
||
451 | { |
||
452 | stick = 1; |
||
453 | CompassCalState++; |
||
454 | if(CompassCalState < 5) Beep(CompassCalState); |
||
455 | else BeepTime = 1000; |
||
456 | } |
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1 | ingob | 457 | } |
458 | |||
459 | |||
819 | hbuss | 460 | |
886 | killagreg | 461 | /************************************************************************/ |
462 | /* MotorControl */ |
||
463 | /************************************************************************/ |
||
464 | void MotorControl(void) |
||
1 | ingob | 465 | { |
886 | killagreg | 466 | int16_t MotorValue, pd_result, h, tmp_int; |
467 | int16_t YawMixFraction, ThrustMixFraction; |
||
468 | static int32_t SumPitch = 0, SumRoll = 0; |
||
469 | static int32_t SetPointYaw = 0; |
||
470 | static int32_t IntegralErrorPitch = 0; |
||
471 | static int32_t IntegralErrorRoll = 0; |
||
472 | static uint16_t RcLostTimer; |
||
473 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
||
474 | static uint8_t HeightControlActive = 0; |
||
475 | static int16_t HeightControlThrust = 0; |
||
476 | static int8_t TimerDebugOut = 0; |
||
477 | static uint16_t UpdateCompassCourse = 0; |
||
478 | static int32_t CorrectionPitch, CorrectionRoll; |
||
1 | ingob | 479 | |
886 | killagreg | 480 | Mean(); |
481 | GRN_ON; |
||
1 | ingob | 482 | |
886 | killagreg | 483 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
484 | // determine thrust value |
||
485 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
486 | ThrustMixFraction = StickThrust; |
||
487 | if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10; |
||
488 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
489 | // RC-signal is bad |
||
490 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
491 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
||
492 | { |
||
493 | if(!PcAccess) // if also no PC-Access via UART |
||
494 | { |
||
495 | if(BeepModulation == 0xFFFF) |
||
496 | { |
||
497 | BeepTime = 15000; // 1.5 seconds |
||
498 | BeepModulation = 0x0C00; |
||
499 | } |
||
500 | } |
||
501 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
||
502 | else // rc lost countdown finished |
||
503 | { |
||
504 | MotorsOn = 0; // stop all motors |
||
505 | EmergencyLanding = 0; // emergency landing is over |
||
506 | } |
||
507 | ROT_ON; // set red led |
||
508 | if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
||
509 | { |
||
510 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
||
511 | EmergencyLanding = 1; // enable emergency landing |
||
512 | // set neutral rc inputs |
||
513 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
514 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
515 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
516 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
517 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
518 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
519 | } |
||
520 | else MotorsOn = 0; // switch of all motors |
||
521 | } // eof RC_Quality < 120 |
||
522 | else |
||
523 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
524 | // RC-signal is good |
||
525 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
526 | if(RC_Quality > 140) |
||
527 | { |
||
528 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
||
529 | // reset emergency timer |
||
530 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
||
531 | if(ThrustMixFraction > 40) |
||
532 | { |
||
533 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
||
534 | } |
||
535 | if(Model_Is_Flying < 256) |
||
536 | { |
||
537 | SumPitch = 0; |
||
538 | SumRoll = 0; |
||
539 | StickYaw = 0; |
||
540 | if(Model_Is_Flying == 250) UpdateCompassCourse = 1; |
||
541 | } |
||
604 | hbuss | 542 | |
886 | killagreg | 543 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
544 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
||
545 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
||
546 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
||
547 | //PPM24-Extension |
||
548 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
||
549 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
||
550 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
||
551 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
||
552 | //limit poti values |
||
553 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
554 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
555 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
556 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
557 | //PPM24-Extension |
||
558 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
||
559 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
||
560 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
||
561 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
||
723 | hbuss | 562 | |
886 | killagreg | 563 | // if motors are off and the thrust stick is in the upper position |
564 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
||
565 | { |
||
566 | // and if the yaw stick is in the leftmost position |
||
567 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
568 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
569 | // calibrate the neutral readings of all attitude sensors |
||
570 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
571 | { |
||
572 | // thrust/yaw joystick is top left |
||
573 | // _________ |
||
574 | // |x | |
||
575 | // | | |
||
576 | // | | |
||
577 | // | | |
||
578 | // | | |
||
579 | // ¯¯¯¯¯¯¯¯¯ |
||
580 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
581 | { |
||
582 | delay_neutral = 0; |
||
583 | GRN_OFF; |
||
584 | Model_Is_Flying = 0; |
||
585 | // check roll/pitch stick position |
||
586 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
||
587 | // according to roll/pitch stick position |
||
588 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
||
589 | { |
||
590 | uint8_t setting = 1; // default |
||
591 | // pitch/roll joystick |
||
592 | // _________ |
||
593 | // |2 3 4| |
||
594 | // | | |
||
595 | // |1 5| |
||
596 | // | | |
||
597 | // | | |
||
598 | // ¯¯¯¯¯¯¯¯¯ |
||
599 | // roll stick leftmost and pitch stick centered --> setting 1 |
||
600 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
||
601 | // roll stick leftmost and pitch stick topmost --> setting 2 |
||
602 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
||
603 | // roll stick centered an pitch stick topmost --> setting 3 |
||
604 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
||
605 | // roll stick rightmost and pitch stick topmost --> setting 4 |
||
606 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
||
607 | // roll stick rightmost and pitch stick centered --> setting 5 |
||
608 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
||
609 | // update active parameter set in eeprom |
||
610 | SetActiveParamSet(setting); |
||
611 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
612 | SetNeutral(); |
||
613 | Beep(GetActiveParamSet()); |
||
614 | } |
||
615 | else |
||
616 | { |
||
617 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
||
618 | { |
||
619 | // if roll stick is centered and pitch stick is down |
||
620 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) |
||
621 | { |
||
622 | // pitch/roll joystick |
||
623 | // _________ |
||
624 | // | | |
||
625 | // | | |
||
626 | // | | |
||
627 | // | | |
||
628 | // | x | |
||
629 | // ¯¯¯¯¯¯¯¯¯ |
||
630 | // enable calibration state of compass |
||
631 | CompassCalState = 1; |
||
632 | BeepTime = 1000; |
||
633 | } |
||
634 | else // pitch and roll are centered |
||
635 | { |
||
636 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
637 | SetNeutral(); |
||
638 | Beep(GetActiveParamSet()); |
||
639 | } |
||
640 | } |
||
641 | else // pitch and roll are centered |
||
642 | { |
||
643 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
644 | SetNeutral(); |
||
645 | Beep(GetActiveParamSet()); |
||
646 | } |
||
647 | } |
||
648 | } |
||
649 | } |
||
650 | // and if the yaw stick is in the rightmost position |
||
651 | // save the ACC neutral setting to eeprom |
||
652 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
653 | { |
||
654 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
655 | { |
||
656 | delay_neutral = 0; |
||
657 | GRN_OFF; |
||
658 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
||
659 | Model_Is_Flying = 0; |
||
660 | SetNeutral(); |
||
661 | // Save ACC neutral settings to eeprom |
||
662 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
||
663 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
664 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
||
665 | Beep(GetActiveParamSet()); |
||
666 | } |
||
667 | } |
||
668 | else delay_neutral = 0; |
||
669 | } |
||
670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
671 | // thrust stick is down |
||
672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
673 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
||
674 | { |
||
675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
676 | // and yaw stick is rightmost --> start motors |
||
677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
678 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
679 | { |
||
680 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
681 | { |
||
682 | delay_startmotors = 200; // do not repeat if once executed |
||
683 | Model_Is_Flying = 1; |
||
684 | MotorsOn = 1; |
||
685 | SetPointYaw = 0; |
||
686 | Reading_IntegralGyroYaw = 0; |
||
687 | Reading_IntegralGyroPitch = 0; |
||
688 | Reading_IntegralGyroRoll = 0; |
||
689 | Reading_IntegralGyroPitch2 = IntegralPitch; |
||
690 | Reading_IntegralGyroRoll2 = IntegralRoll; |
||
691 | SumPitch = 0; |
||
692 | SumRoll = 0; |
||
908 | killagreg | 693 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
886 | killagreg | 694 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
695 | { |
||
696 | GPS_SetHomePosition(); |
||
697 | } |
||
698 | #endif |
||
699 | } |
||
700 | } |
||
701 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
||
702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
703 | // and yaw stick is leftmost --> stop motors |
||
704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
705 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
706 | { |
||
707 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
708 | { |
||
709 | delay_stopmotors = 200; // do not repeat if once executed |
||
710 | Model_Is_Flying = 0; |
||
711 | MotorsOn = 0; |
||
908 | killagreg | 712 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
886 | killagreg | 713 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
714 | { |
||
715 | GPS_ClearHomePosition(); |
||
716 | } |
||
717 | #endif |
||
718 | } |
||
719 | } |
||
720 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
||
721 | } |
||
722 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
||
723 | } // eof RC_Quality > 150 |
||
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
725 | // new values from RC |
||
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
727 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
||
728 | { |
||
729 | int tmp_int; |
||
730 | ParameterMapping(); // remapping params (online poti replacement) |
||
731 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
||
732 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
||
733 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
||
734 | StickPitch -= (GPS_Pitch); |
||
723 | hbuss | 735 | |
886 | killagreg | 736 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
737 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
738 | StickRoll -= (GPS_Roll); |
||
595 | hbuss | 739 | |
886 | killagreg | 740 | // direct mapping of yaw and thrust |
741 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
||
742 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
||
1 | ingob | 743 | |
886 | killagreg | 744 | // update gyro control loop factors |
745 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
||
746 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
||
747 | |||
595 | hbuss | 748 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 749 | // Digital Control via DubWise |
595 | hbuss | 750 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 751 | |
886 | killagreg | 752 | #define KEY_VALUE (FCParam.UserParam8 * 4) // step width |
753 | if(DubWiseKeys[1]) BeepTime = 10; |
||
754 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
||
755 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
||
756 | else tmp_int = 0; |
||
757 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
||
758 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
||
759 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
||
760 | else tmp_int = 0; |
||
761 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
||
492 | hbuss | 762 | |
886 | killagreg | 763 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
764 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
||
765 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
||
766 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
||
767 | |||
768 | StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
||
769 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
||
770 | StickYaw += (STICK_GAIN * ExternStickYaw); |
||
771 | |||
595 | hbuss | 772 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 773 | //+ Analog control via serial communication |
595 | hbuss | 774 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 775 | |
886 | killagreg | 776 | if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
777 | { |
||
778 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
||
779 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
||
780 | StickYaw += ExternControl.Yaw; |
||
781 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
||
782 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
||
783 | } |
||
784 | if(StickThrust < 0) StickThrust = 0; |
||
723 | hbuss | 785 | |
886 | killagreg | 786 | // disable I part of gyro control feedback |
787 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
||
788 | // avoid negative scaling factors |
||
789 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
||
790 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
||
723 | hbuss | 791 | |
886 | killagreg | 792 | |
793 | // update max stick positions for pitch and roll |
||
794 | |||
795 | if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
||
796 | else MaxStickPitch--; |
||
797 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
798 | else MaxStickRoll--; |
||
799 | |||
800 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
173 | holgerb | 801 | // Looping? |
886 | killagreg | 802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 803 | |
886 | killagreg | 804 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
805 | else |
||
806 | { |
||
807 | if(Looping_Left) // Hysteresis |
||
808 | { |
||
809 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
||
810 | } |
||
811 | } |
||
812 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
||
813 | else |
||
814 | { |
||
815 | if(Looping_Right) // Hysteresis |
||
816 | { |
||
817 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
||
818 | } |
||
819 | } |
||
395 | hbuss | 820 | |
886 | killagreg | 821 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
822 | else |
||
823 | { |
||
824 | if(Looping_Top) // Hysteresis |
||
825 | { |
||
826 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
||
827 | } |
||
828 | } |
||
829 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
||
830 | else |
||
831 | { |
||
832 | if(Looping_Down) // Hysteresis |
||
833 | { |
||
834 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
||
835 | } |
||
836 | } |
||
395 | hbuss | 837 | |
886 | killagreg | 838 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
839 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
||
840 | } // End of new RC-Values or Emergency Landing |
||
173 | holgerb | 841 | |
395 | hbuss | 842 | |
886 | killagreg | 843 | if(Looping_Roll) BeepTime = 100; |
844 | if(Looping_Roll || Looping_Pitch) |
||
845 | { |
||
846 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
||
847 | } |
||
395 | hbuss | 848 | |
849 | |||
886 | killagreg | 850 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | //+ LED Control on J16/J17 |
||
852 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
853 | LED1_Time = FCParam.UserParam7; |
||
854 | LED2_Time = FCParam.UserParam8; |
||
855 | LED_Update(); |
||
395 | hbuss | 856 | |
886 | killagreg | 857 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
858 | // in case of emergency landing |
||
859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
860 | // set all inputs to save values |
||
861 | if(EmergencyLanding) |
||
862 | { |
||
863 | StickYaw = 0; |
||
864 | StickPitch = 0; |
||
865 | StickRoll = 0; |
||
866 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
||
867 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
||
868 | Looping_Roll = 0; |
||
869 | Looping_Pitch = 0; |
||
870 | MaxStickPitch = 0; |
||
871 | MaxStickRoll = 0; |
||
872 | } |
||
395 | hbuss | 873 | |
886 | killagreg | 874 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
875 | // Trim Gyro-Integrals to ACC-Signals |
||
876 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
614 | hbuss | 877 | |
886 | killagreg | 878 | #define BALANCE_NUMBER 256L |
879 | // sum for averaging |
||
880 | MeanIntegralPitch += IntegralPitch; |
||
881 | MeanIntegralRoll += IntegralRoll; |
||
614 | hbuss | 882 | |
886 | killagreg | 883 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
884 | { |
||
885 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
||
886 | MeasurementCounter = 0; |
||
469 | hbuss | 887 | |
886 | killagreg | 888 | IntegralAccPitch = 0; |
889 | IntegralAccRoll = 0; |
||
614 | hbuss | 890 | |
886 | killagreg | 891 | MeanIntegralPitch = 0; |
892 | MeanIntegralRoll = 0; |
||
395 | hbuss | 893 | |
886 | killagreg | 894 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
895 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
||
498 | hbuss | 896 | |
886 | killagreg | 897 | AttitudeCorrectionPitch = 0; |
898 | AttitudeCorrectionRoll = 0; |
||
899 | } |
||
395 | hbuss | 900 | |
886 | killagreg | 901 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
902 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
||
903 | { |
||
904 | int32_t tmp_long, tmp_long2; |
||
905 | // determine the deviation of gyro integral from averaged acceleration sensor |
||
906 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
||
907 | tmp_long /= 16; |
||
908 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
||
909 | tmp_long2 /= 16; |
||
395 | hbuss | 910 | |
886 | killagreg | 911 | if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
912 | { |
||
913 | tmp_long /= 3; |
||
914 | tmp_long2 /= 3; |
||
915 | } |
||
916 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
||
917 | { |
||
918 | tmp_long /= 3; |
||
919 | tmp_long2 /= 3; |
||
920 | } |
||
395 | hbuss | 921 | |
886 | killagreg | 922 | #define BALANCE 32 |
923 | // limit correction effect |
||
924 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
||
925 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
||
926 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
||
927 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
||
928 | // correct current readings |
||
929 | Reading_IntegralGyroPitch -= tmp_long; |
||
930 | Reading_IntegralGyroRoll -= tmp_long2; |
||
931 | } |
||
932 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
933 | // MeasurementCounter is incremented in the isr of analog.c |
||
934 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
||
935 | { |
||
936 | static int16_t cnt = 0; |
||
937 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
||
938 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
||
720 | ingob | 939 | |
886 | killagreg | 940 | // if not lopping in any direction (this should be alwais the case, |
941 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
||
942 | if(!Looping_Pitch && !Looping_Roll && !FunnelCourse) |
||
943 | { |
||
944 | // Calculate mean value of the gyro integrals |
||
945 | MeanIntegralPitch /= BALANCE_NUMBER; |
||
946 | MeanIntegralRoll /= BALANCE_NUMBER; |
||
720 | ingob | 947 | |
886 | killagreg | 948 | // Calculate mean of the acceleration values |
949 | IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
||
950 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
||
720 | ingob | 951 | |
886 | killagreg | 952 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
953 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
||
954 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
||
955 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
||
956 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
||
957 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
958 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
||
959 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
||
960 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
||
961 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
||
962 | |||
963 | if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
||
964 | { |
||
965 | AttitudeCorrectionPitch /= 2; |
||
966 | AttitudeCorrectionRoll /= 2; |
||
967 | } |
||
968 | |||
969 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
970 | // Gyro-Drift ermitteln |
||
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
972 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
||
973 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
||
974 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
||
975 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
||
976 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
||
977 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
||
978 | |||
979 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
||
980 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
||
981 | YawGyroDrift = 0; |
||
982 | /* |
||
983 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
||
984 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
985 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
||
986 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
||
987 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
||
988 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
||
989 | //DebugOut.Analog[28] = CorrectionPitch; |
||
990 | DebugOut.Analog[29] = CorrectionRoll; |
||
991 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
||
720 | ingob | 992 | */ |
886 | killagreg | 993 | |
994 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
||
995 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
||
996 | #define MOVEMENT_LIMIT 20000 |
||
997 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
998 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
||
999 | CorrectionPitch = 0; |
||
1000 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
||
1001 | { |
||
1002 | if(IntegralErrorPitch > ERROR_LIMIT2) |
||
1003 | { |
||
1004 | if(last_n_p) |
||
1005 | { |
||
1006 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
||
1007 | CorrectionPitch = IntegralErrorPitch / 8; |
||
1008 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
||
1009 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
||
1010 | } |
||
1011 | else last_n_p = 1; |
||
1012 | } |
||
1013 | else last_n_p = 0; |
||
1014 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
||
1015 | { |
||
1016 | if(last_n_n) |
||
1017 | { |
||
1018 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
||
1019 | CorrectionPitch = IntegralErrorPitch / 8; |
||
1020 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
||
1021 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
||
1022 | } |
||
1023 | else last_n_n = 1; |
||
1024 | } |
||
1025 | else last_n_n = 0; |
||
1026 | } |
||
1027 | else |
||
1028 | { |
||
1029 | cnt = 0; |
||
1030 | BadCompassHeading = 500; |
||
1031 | } |
||
1032 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
1033 | // correct Gyro Offsets |
||
1034 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
||
1035 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
||
1036 | |||
1037 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1038 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
||
1039 | CorrectionRoll = 0; |
||
1040 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
||
1041 | { |
||
1042 | if(IntegralErrorRoll > ERROR_LIMIT2) |
||
1043 | { |
||
1044 | if(last_r_p) |
||
1045 | { |
||
1046 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
||
1047 | CorrectionRoll = IntegralErrorRoll / 8; |
||
1048 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
||
1049 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
1050 | } |
||
1051 | else last_r_p = 1; |
||
1052 | } |
||
1053 | else last_r_p = 0; |
||
1054 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
||
1055 | { |
||
1056 | if(last_r_n) |
||
1057 | { |
||
1058 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
||
1059 | CorrectionRoll = IntegralErrorRoll / 8; |
||
1060 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
||
1061 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
1062 | } |
||
1063 | else last_r_n = 1; |
||
1064 | } |
||
1065 | else last_r_n = 0; |
||
1066 | } |
||
1067 | else |
||
1068 | { |
||
1069 | cnt = 0; |
||
1070 | BadCompassHeading = 500; |
||
1071 | } |
||
1072 | // correct Gyro Offsets |
||
1073 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
1074 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
||
1075 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
||
720 | ingob | 1076 | /* |
886 | killagreg | 1077 | DebugOut.Analog[27] = CorrectionRoll; |
1078 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
||
1079 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
||
720 | ingob | 1080 | */ |
886 | killagreg | 1081 | } |
1082 | else // looping is active |
||
1083 | { |
||
1084 | AttitudeCorrectionRoll = 0; |
||
1085 | AttitudeCorrectionPitch = 0; |
||
1086 | FunnelCourse = 0; |
||
1087 | } |
||
395 | hbuss | 1088 | |
886 | killagreg | 1089 | // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
1090 | if(!Gyro_I_Factor) |
||
1091 | { |
||
1092 | AttitudeCorrectionRoll = 0; |
||
1093 | AttitudeCorrectionPitch = 0; |
||
1094 | } |
||
1095 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1096 | MeanIntegralPitch_old = MeanIntegralPitch; |
||
1097 | MeanIntegralRoll_old = MeanIntegralRoll; |
||
1098 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1099 | // reset variables used for averaging |
||
1100 | IntegralAccPitch = 0; |
||
1101 | IntegralAccRoll = 0; |
||
1102 | MeanIntegralPitch = 0; |
||
1103 | MeanIntegralRoll = 0; |
||
1104 | MeasurementCounter = 0; |
||
1105 | } // end of averaging |
||
401 | hbuss | 1106 | |
492 | hbuss | 1107 | |
886 | killagreg | 1108 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1109 | // Yawing |
||
1110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1111 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
||
1112 | { |
||
1113 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
||
1114 | { |
||
1115 | UpdateCompassCourse = 1; |
||
1116 | CompassCourse = YawGyroHeading; |
||
1117 | BadCompassHeading = 250; |
||
1118 | } |
||
1119 | } |
||
1120 | // exponential stick sensitivity in yawring rate |
||
1121 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
||
1122 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
||
1123 | SetPointYaw = tmp_int; |
||
1124 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
||
1125 | Reading_IntegralGyroYaw -= tmp_int; |
||
1126 | // limit the effect |
||
1127 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
||
1128 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
||
614 | hbuss | 1129 | |
886 | killagreg | 1130 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1131 | // Compass |
||
1132 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1133 | // compass code is used if Compass option is selected |
||
1134 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
||
1135 | { |
||
1136 | int16_t w, v, r,correction, error; |
||
395 | hbuss | 1137 | |
886 | killagreg | 1138 | if(CompassCalState && MotorsOn == 0 ) |
1139 | { |
||
1140 | SetCompassCalState(); |
||
1141 | #ifdef USE_KILLAGREG |
||
1142 | MM3_Calibrate(); |
||
1143 | #endif |
||
1144 | } |
||
1145 | else |
||
1146 | { |
||
1147 | #ifdef USE_KILLAGREG |
||
1148 | static uint8_t updCompass = 0; |
||
1149 | if (!updCompass--) |
||
1150 | { |
||
1151 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
||
1152 | MM3_Heading(); |
||
1153 | } |
||
1154 | #endif |
||
819 | hbuss | 1155 | |
886 | killagreg | 1156 | // get maximum attitude angle |
1157 | w = abs(IntegralPitch/512); |
||
1158 | v = abs(IntegralRoll /512); |
||
1159 | if(v > w) w = v; |
||
1160 | // update compass course |
||
1161 | if (w < 25 && UpdateCompassCourse && !BadCompassHeading) |
||
1162 | { |
||
1163 | BeepTime = 200; |
||
1164 | CompassCourse = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
||
1165 | UpdateCompassCourse = 0; |
||
1166 | } |
||
1167 | // calculate the deviation of the yaw gyro heading and the compass heading |
||
1168 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
||
1169 | else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
||
1170 | correction = w / 8 + 1; |
||
1171 | YawGyroHeading += (error * 8) / correction; |
||
1172 | w = (w * FCParam.CompassYawEffect) / 64; |
||
1173 | w = FCParam.CompassYawEffect - w; |
||
1174 | if(w > 0) |
||
1175 | { |
||
1176 | if(BadCompassHeading) |
||
1177 | { // wait a while |
||
1178 | BadCompassHeading--; |
||
1179 | } |
||
1180 | else |
||
1181 | { // |
||
1182 | YawGyroDrift += error; |
||
1183 | v = 64 + (MaxStickPitch + MaxStickRoll) / 8; |
||
1184 | // calc course deviation |
||
1185 | r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
||
1186 | v = (r * w) / v; // align to compass course |
||
1187 | // limit yaw rate |
||
1188 | w = 3 * FCParam.CompassYawEffect; |
||
1189 | if (v > w) v = w; |
||
1190 | else if (v < -w) v = -w; |
||
1191 | Reading_IntegralGyroYaw += v; |
||
1192 | } |
||
1193 | } |
||
1194 | else |
||
1195 | { // ignore compass at extreme attitudes for a while |
||
1196 | BadCompassHeading = 250; |
||
1197 | } |
||
1198 | } |
||
1199 | } |
||
1 | ingob | 1200 | |
908 | killagreg | 1201 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
886 | killagreg | 1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | // GPS |
||
1204 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1205 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
||
1206 | { |
||
1207 | GPS_I_Factor = FCParam.UserParam2; |
||
1208 | GPS_P_Factor = FCParam.UserParam5; |
||
1209 | GPS_D_Factor = FCParam.UserParam6; |
||
1210 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
||
1211 | else GPS_Main(Poti3); // behavior controlled by Poti3 |
||
1212 | } |
||
1213 | else |
||
1214 | { |
||
1215 | GPS_Pitch = 0; |
||
1216 | GPS_Roll = 0; |
||
1217 | } |
||
1218 | #endif |
||
1219 | |||
1220 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1221 | // Debugwerte zuordnen |
886 | killagreg | 1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1223 | if(!TimerDebugOut--) |
||
1224 | { |
||
1225 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
||
1226 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
||
1227 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
||
1228 | DebugOut.Analog[2] = Mean_AccPitch; |
||
1229 | DebugOut.Analog[3] = Mean_AccRoll; |
||
1230 | DebugOut.Analog[4] = Reading_GyroYaw; |
||
1231 | DebugOut.Analog[5] = ReadingHeight; |
||
1232 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
||
1233 | DebugOut.Analog[8] = CompassHeading; |
||
1234 | DebugOut.Analog[9] = UBat; |
||
1235 | DebugOut.Analog[10] = RC_Quality; |
||
1236 | DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
||
1237 | DebugOut.Analog[16] = Mean_AccTop; |
||
805 | hbuss | 1238 | |
886 | killagreg | 1239 | DebugOut.Analog[20] = ServoValue; |
173 | holgerb | 1240 | |
744 | hbuss | 1241 | |
720 | ingob | 1242 | |
886 | killagreg | 1243 | DebugOut.Analog[30] = GPS_Pitch; |
1244 | DebugOut.Analog[31] = GPS_Roll; |
||
805 | hbuss | 1245 | |
886 | killagreg | 1246 | /* DebugOut.Analog[16] = motor_rx[0]; |
1247 | DebugOut.Analog[17] = motor_rx[1]; |
||
1248 | DebugOut.Analog[18] = motor_rx[2]; |
||
1249 | DebugOut.Analog[19] = motor_rx[3]; |
||
1250 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
1251 | DebugOut.Analog[20] /= 14; |
||
1252 | DebugOut.Analog[21] = motor_rx[4]; |
||
1253 | DebugOut.Analog[22] = motor_rx[5]; |
||
1254 | DebugOut.Analog[23] = motor_rx[6]; |
||
1255 | DebugOut.Analog[24] = motor_rx[7]; |
||
1256 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
805 | hbuss | 1257 | |
886 | killagreg | 1258 | DebugOut.Analog[9] = Reading_GyroPitch; |
1259 | DebugOut.Analog[9] = SetPointHeight; |
||
1260 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
||
1 | ingob | 1261 | |
886 | killagreg | 1262 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1263 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
||
1264 | DebugOut.Analog[9] = CompassOffCourse; |
||
1265 | DebugOut.Analog[10] = ThrustMixFraction; |
||
1266 | DebugOut.Analog[3] = HeightD * 32; |
||
1267 | DebugOut.Analog[4] = HeightControlThrust; |
||
1268 | */ |
||
1269 | } |
||
604 | hbuss | 1270 | |
886 | killagreg | 1271 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1272 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
||
1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1274 | |
886 | killagreg | 1275 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1276 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
||
1277 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
||
1278 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
||
1279 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
||
854 | hbuss | 1280 | |
886 | killagreg | 1281 | DebugOut.Analog[21] = Reading_GyroPitch; |
1282 | DebugOut.Analog[22] = Reading_GyroRoll; |
||
1 | ingob | 1283 | |
886 | killagreg | 1284 | // limit control feedback |
1285 | #define MAX_SENSOR (4096 * STICK_GAIN) |
||
1286 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
||
1287 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
||
1288 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
||
1289 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
||
1290 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
||
1291 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
||
855 | hbuss | 1292 | |
886 | killagreg | 1293 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1294 | // Height Control |
||
1295 | // The height control algorithm reduces the thrust but does not increase the thrust. |
||
1296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1297 | |
886 | killagreg | 1298 | ThrustMixFraction *= STICK_GAIN; |
513 | hbuss | 1299 | |
886 | killagreg | 1300 | // If height control is activated and no emergency landing is active |
1301 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
||
1302 | { |
||
1303 | int tmp_int; |
||
1304 | // if height control is activated by an rc channel |
||
1305 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
||
1306 | { // check if parameter is less than activation threshold |
||
1307 | if(FCParam.MaxHeight < 50) |
||
1308 | { |
||
1309 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
||
1310 | HeightControlActive = 0; // disable height control |
||
1311 | } |
||
1312 | else HeightControlActive = 1; // enable height control |
||
1313 | } |
||
1314 | else // no switchable height control |
||
1315 | { |
||
1316 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
||
1317 | HeightControlActive = 1; |
||
1318 | } |
||
1319 | // get current height |
||
1320 | h = ReadingHeight; |
||
1321 | // if current height is above the setpoint reduce thrust |
||
1322 | if((h > SetPointHeight) && HeightControlActive) |
||
1323 | { |
||
1324 | // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
||
1325 | // height difference -> P control part |
||
1326 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
||
1327 | h = ThrustMixFraction - h; // reduce gas |
||
1328 | // height gradient --> D control part |
||
1329 | //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
||
1330 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
||
1331 | // acceleration sensor effect |
||
1332 | tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
||
1333 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
||
1334 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
||
1335 | h -= tmp_int; |
||
1336 | // update height control thrust |
||
1337 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
||
1338 | // limit thrust reduction |
||
1339 | if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN) |
||
1340 | { |
||
1341 | if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN; |
||
1342 | // allows landing also if thrust stick is reduced below min thrust on height control |
||
1343 | if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction; |
||
1344 | } |
||
1345 | // limit thrust to stick setting |
||
1346 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
||
1347 | ThrustMixFraction = HeightControlThrust; |
||
1348 | } |
||
1349 | } |
||
1350 | // limit thrust to parameter setting |
||
1351 | if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN; |
||
1352 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1353 | // + Mixer and PI-Controller |
||
1354 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1355 | DebugOut.Analog[7] = ThrustMixFraction; |
||
1356 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1357 | // Yaw-Fraction |
||
1358 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1359 | YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
||
1360 | #define MIN_YAWTHRUST (40 * STICK_GAIN) // yaw also below this thrust value |
||
1361 | // limit YawMixFraction |
||
1362 | if(ThrustMixFraction > MIN_YAWTHRUST) |
||
1363 | { |
||
1364 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
||
1365 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
||
1366 | } |
||
1367 | else |
||
1368 | { |
||
1369 | if(YawMixFraction > (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2; |
||
1370 | if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2); |
||
1371 | } |
||
1372 | tmp_int = ParamSet.Trust_Max * STICK_GAIN; |
||
1373 | if(YawMixFraction > ((tmp_int - ThrustMixFraction))) YawMixFraction = ((tmp_int - ThrustMixFraction)); |
||
1374 | if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction)); |
||
173 | holgerb | 1375 | |
886 | killagreg | 1376 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1377 | // Pitch-Axis |
||
1378 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1379 | DiffPitch = Reading_GyroPitch - StickPitch; // get difference |
||
1380 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control |
||
1381 | else SumPitch += DiffPitch; // I-part for head holding |
||
1382 | if(SumPitch > (STICK_GAIN * 16000L)) SumPitch = (STICK_GAIN * 16000L); |
||
1383 | if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L); |
||
1384 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
||
1385 | |||
1386 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
||
1387 | if(pd_result > tmp_int) pd_result = tmp_int; |
||
1388 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
1389 | |||
1390 | // Motor Front |
||
1391 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
||
1392 | MotorValue /= STICK_GAIN; |
||
1393 | if ((MotorValue < 0)) MotorValue = 0; |
||
1394 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
||
1395 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
1396 | Motor_Front = MotorValue; |
||
1397 | |||
1398 | // Motor Rear |
||
1399 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
||
1400 | MotorValue /= STICK_GAIN; |
||
1401 | if ((MotorValue < 0)) MotorValue = 0; |
||
1402 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
||
1403 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
1404 | Motor_Rear = MotorValue; |
||
1405 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1406 | // Roll-Axis |
||
1407 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1408 | DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
||
1409 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
||
1410 | else SumRoll += DiffRoll; // I-part for head holding |
||
901 | killagreg | 1411 | if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
1412 | if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
||
886 | killagreg | 1413 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1414 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
||
1415 | if(pd_result > tmp_int) pd_result = tmp_int; |
||
1416 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
1417 | |||
1418 | // Motor Left |
||
1419 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
||
1420 | MotorValue /= STICK_GAIN; |
||
1421 | if ((MotorValue < 0)) MotorValue = 0; |
||
1422 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
||
1423 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
1424 | Motor_Left = MotorValue; |
||
1425 | |||
1426 | // Motor Right |
||
1427 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
||
1428 | MotorValue /= STICK_GAIN; |
||
1429 | if ((MotorValue < 0)) MotorValue = 0; |
||
1430 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
||
1431 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
1432 | Motor_Right = MotorValue; |
||
1 | ingob | 1433 | } |
1434 |