Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <stdlib.h>

#include "control.h"

#include "rc.h"

#include "configuration.h"

#include "attitude.h"

#include "eeprom.h"

#include "flight.h"

#define RCChannel(dimension) (PPM_in[staticParams.ChannelAssignment[dimension]])

uint16_t maxStickPitch = 0, maxStickRoll = 0;

int16_t stickPitch = 0, stickRoll = 0, stickYaw = 0, stickThrottle = 0;

int16_t GPSStickPitch = 0, GPSStickRoll = 0;

int16_t externalStickPitch = 0, externalStickRoll = 0, externalStickYaw = 0, externalHeightValue = -20;

// dongfang's own experiment: Cablibrated sticks.

int16_t stickOffsetPitch = 0, stickOffsetRoll = 0;

// Looping-or-not flags.

uint8_t loopingPitch = 0, loopingRoll = 0;

uint8_t loopingLeft = 0, loopingRight = 0, loopingDown = 0, loopingTop = 0;

// Internal variables for reading commands made with an R/S stick.

uint8_t lastStickCommand  = STICK_COMMAND_UNDEF;

uint8_t stickCommandTimer = 0;

ExternalControl_t externalControl;

/*

 * Stick diagram:

 * 2--3--4

 * |     |  +

 * 1  9  5  ^ 0

 * |     |  |  

 * 8--7--6

 *    

 * + <--

 *    0

 *

 * Not in any of these positions: 0

 */

/*

 * The stick most be further from center than this to indicate a settings number (1-5).

 */

#define STICK_SETTINGSELECTION_THRESHOLD 70

uint8_t control_getLeftRCStickIndex(int16_t thresholdThrottle, int16_t thresholdYaw) {

  if(RCChannel(CH_THROTTLE) > thresholdThrottle) {

    // throttle is up

    if(RCChannel(CH_YAW) > thresholdYaw)

      return STICK_COMMAND_GYROCAL;

    if(RCChannel(CH_YAW) < -thresholdYaw)

      return STICK_COMMAND_ACCCAL;

    return STICK_COMMAND_UNDEF;

  } else if(RCChannel(CH_THROTTLE) < -thresholdThrottle) {

    // pitch is down

    if(RCChannel(CH_YAW) > thresholdYaw)

      return STICK_COMMAND_STOP;

    if(RCChannel(CH_YAW) < -thresholdYaw)

      return STICK_COMMAND_START;

    return STICK_COMMAND_UNDEF;

  } else {

    // pitch is around center

    return STICK_COMMAND_UNDEF;

  }

}

uint8_t control_getRightRCStickIndex(void) {

  if(RCChannel(CH_PITCH) > STICK_SETTINGSELECTION_THRESHOLD) {

    // pitch is up

    if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD)

      return 2;

    if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD)

      return 4;

    return 3;

  } else if(RCChannel(CH_PITCH) < -STICK_SETTINGSELECTION_THRESHOLD) {

    // pitch is down

    if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD)

      return 8;

    if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD)

      return 6;

    return 7;

  } else {

    // pitch is around center

    if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD)

      return 1;

    if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD)

      return 5;

    return 9;

  }

}

/*

 * This could be expanded to take calibrate / start / stop commands from ohter sources

 * than the R/C (read: Custom MK R/C project)

 */

void control_senseStickCommands(void) {

  uint8_t stickCommandNow = control_getLeftRCStickIndex(85, 85);

  if (stickCommandNow != lastStickCommand) {

    lastStickCommand = stickCommandNow;

    stickCommandTimer = 0;

  } else {

    if (stickCommandTimer < 201)

      stickCommandTimer++;

  }

}

/*

 * This could be expanded to take calibrate / start / stop commands from ohter sources

 * than the R/C (read: Custom MK R/C project)

 */

uint8_t control_getStickCommand(void) {

  // If the same command was made 200 times, it's stable.

  if (stickCommandTimer >= 200) {

    return lastStickCommand;

  }

  return STICK_COMMAND_UNDEF;

}

uint8_t control_isStickCommandRepeated(void) {

  return stickCommandTimer > 200 ? 1 : 0;

}

/*

 * To be fired only when the right stick is in the center position.

 * This will cause the value of pitch and roll stick to be adjusted

 * to zero (not just to near zero, as per the assumption in rc.c

 * about the rc signal. I had values about 50..70 with a Futaba

 * R617 receiver.) This calibration is not strictly necessary, but

 * for control logic that depends on the exact (non)center position

 * of a stick, it may be useful.

 */

void control_setNeutral(void) {

  stickOffsetPitch += stickPitch;

  stickOffsetRoll += stickRoll;

}

/*

 * Set the potientiometer values to the values of the respective R/C channel

 * right now. No slew rate limit.

 */

void control_initPots(void) {

  uint8_t i;

  for (i=0; i<4; i++) {

    pots[i] = RCChannel(CH_POTS + i) + POT_OFFSET;

  }

  for (i=4; i<8; i++) {

    pots[i] = PPM_in[9 + (i-4)] + POT_OFFSET;

  }

}

/*

 * Update potentiometer values with slow slew rate. Could be made faster if desired.

 */

void control_updatePots(void) {

  uint8_t i;

  uint16_t targetvalue;

  for (i=0; i<8; i++) {

    if (i<4)  // configured pots

      targetvalue = RCChannel(CH_POTS + i) + POT_OFFSET;

    else      // PPM24-Extension

      targetvalue = PPM_in[9 + i] + POT_OFFSET;

    if (targetvalue < 0) targetvalue = 0;

    if (pots[i] < targetvalue && pots[i] < 255) pots[i]++; else if(pots[i] > 0 && pots[i] > targetvalue) pots[i]--;

  }

}

/*

 * Update the variables indicating stick position from the sum of R/C, GPS and external control.

 */

void control_update(void) {

  // calculate Stick inputs by rc channels (P) and changing of rc channels (D)

  stickPitch = RCChannel(CH_PITCH) * staticParams.StickP;

  // (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4;

  stickPitch += PPM_diff[staticParams.ChannelAssignment[CH_PITCH]] * staticParams.StickD;

  stickPitch = stickPitch - stickOffsetPitch - GPSStickPitch;

  stickRoll = RCChannel(CH_ROLL) * staticParams.StickP;

  // stick_roll = (stick_roll * 3 + RCChannel(CH_ROLL) * staticParams.StickP) / 4;

  stickRoll += PPM_diff[staticParams.ChannelAssignment[CH_ROLL]] * staticParams.StickD;

  stickRoll = stickRoll - stickOffsetRoll - GPSStickRoll;

  // mapping of yaw

  stickYaw = -RCChannel(CH_YAW);

  // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction)

  if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) {

    if (stickYaw > 2) stickYaw-= 2;

    else if (stickYaw< -2) stickYaw += 2;

    else stickYaw = 0;

  }

  // mapping of gas

  stickThrottle = RCChannel(CH_THROTTLE) + 120;// shift to positive numbers

  if(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128) {

    stickPitch += (int16_t) externalControl.pitch * (int16_t) staticParams.StickP;

    stickRoll += (int16_t) externalControl.roll * (int16_t) staticParams.StickP;

    stickYaw += externalControl.yaw;

    // ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)staticParams.Height_Gain;

    // Dubious: Lowest throttle setting has precedence.

    if(externalControl.throttle < stickThrottle) stickThrottle = externalControl.throttle;

  }

  if(stickThrottle < 0) stickThrottle = 0;

  if(abs(stickPitch / STICK_GAIN) > maxStickPitch) {

    maxStickPitch = abs(stickPitch) / STICK_GAIN;

    if(maxStickPitch > 100) maxStickPitch = 100;

  }

  else if (maxStickPitch) maxStickPitch--;

  if(abs(stickRoll / STICK_GAIN) > maxStickRoll) {

    maxStickRoll = abs(stickRoll) / STICK_GAIN;

    if(maxStickRoll > 100) maxStickRoll = 100;

  }

  else if (maxStickRoll) maxStickRoll--;

  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

  // Looping? Do not consider external or GPS input for this :)

  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

  if((RCChannel(CH_ROLL) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_LEFT)  loopingLeft = 1;

  else {

    if(loopingLeft) { // Hysteresis

      if((RCChannel(CH_ROLL) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingLeft = 0;

    }

  }

  if((RCChannel(CH_ROLL) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_RIGHT) loopingRight = 1;

  else {

    if(loopingRight) { // Hysteresis

      if(RCChannel(CH_ROLL) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingRight = 0;

    }

  }

  if((RCChannel(CH_PITCH) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_UP) loopingTop = 1;

  else {

    if(loopingTop) { // Hysteresis

      if((RCChannel(CH_PITCH) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingTop = 0;

    }

  }

  if((RCChannel(CH_PITCH) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_DOWN) loopingDown = 1;

  else {

    if(loopingDown) { // Hysteresis

      if(RCChannel(CH_PITCH) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingDown = 0;

    }

  }

  if(loopingLeft || loopingRight)  loopingRoll = 1; else loopingRoll = 0;

  if(loopingTop  || loopingDown) { loopingPitch = 1; loopingRoll = 0; loopingLeft = 0; loopingRight = 0;} else  loopingPitch = 0;

}

void setCompassCalState(void) {

  static uint8_t stick = 1;

  // if pitch is centered or top set stick to zero

  if(RCChannel(CH_PITCH) > -20) stick = 0;

  // if pitch is down trigger to next cal state

  if((RCChannel(CH_PITCH) < -70) && !stick) {

    stick = 1;

    compassCalState++;

    if(compassCalState < 5) beepNumber(compassCalState);

    else beep(1000);

  }

}

/*

 *

 */

uint8_t control_hasNewRCData(void) {

  // return !NewPpmData--;

  return (NewPpmData-- == 0) ? 1 : 0;

}

void control_performPilotCalibrationCommands(uint8_t stickCommand) {

  if (stickCommand == STICK_COMMAND_GYROCAL && !control_isStickCommandRepeated()) {

    // Run gyro calibration but do not repeat it.

    GRN_OFF;

    // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough?

    // isFlying = 0;

    // check roll/pitch stick position

    // if pitch stick is top or roll stick is left or right --> change parameter setting

    // according to roll/pitch stick position

    uint8_t setting = control_getRightRCStickIndex();

    if ((setting > 0 && setting < 6) || setting == 9) {

      // Gyro calinbration, with or without selecting a new parameter-set.

      if(setting > 0 && setting < 6) {

        // A valid parameter-set (1..5) was chosen - use it.

        setActiveParamSet(setting);

      }

      ParamSet_ReadFromEEProm(getActiveParamSet());

      attitude_setNeutral();

      flight_setNeutral();

      if (setting == 9) { // Right stick is centered; calibrate it to zero (hmm strictly does not belong here).

        control_setNeutral(); // Calibrate right stick neutral position.

      }

      beepNumber(getActiveParamSet());

    } else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && setting == 7) {

      // If right stick is centered and down

      compassCalState = 1;

      beep(1000);

    }

  }

  // save the ACC neutral setting to eeprom

  else  {

    if(stickCommand == STICK_COMMAND_ACCCAL && !control_isStickCommandRepeated()) {

      // Run gyro and acc. meter calibration but do not repeat it.

      GRN_OFF;

      analog_calibrateAcc();

      attitude_setNeutral();

      flight_setNeutral();

      control_setNeutral(); // Calibrate right stick neutral position.

      beepNumber(getActiveParamSet());

    }

  }

} // end !MOTOR_RUN condition.