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| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * 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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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | |||
| 52 | #include <stdlib.h> |
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| 53 | #include "controlMixer.h" |
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| 54 | #include "rc.h" |
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| 55 | #include "externalControl.h" |
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| 56 | #include "configuration.h" |
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| 57 | #include "attitude.h" |
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| 58 | #include "eeprom.h" |
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| 59 | #include "flight.h" |
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| 60 | |||
| 61 | /* |
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| 62 | * Number of cycles a command must be repeated before commit. Maybe this really belongs in RC. |
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| 63 | */ |
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| 64 | #define COMMAND_TIMER 200 |
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| 65 | |||
| 1645 | - | 66 | uint16_t maxControl[2] = {0,0}; |
| 67 | int16_t control[2] = {0,0}, controlYaw = 0, controlThrottle = 0; |
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| 1612 | dongfang | 68 | uint8_t looping = 0; |
| 69 | |||
| 70 | // Internal variables for reading commands made with an R/C stick. |
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| 71 | uint8_t lastCommand = COMMAND_NONE; |
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| 72 | uint8_t commandTimer = 0; |
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| 73 | |||
| 74 | /* |
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| 75 | * This could be expanded to take arguments from ohter sources than the RC |
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| 76 | * (read: Custom MK RC project) |
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| 77 | */ |
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| 78 | uint8_t controlMixer_getArgument(void) { |
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| 79 | return RC_getArgument(); |
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| 80 | } |
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| 81 | |||
| 82 | /* |
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| 83 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
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| 84 | * than the R/C (read: Custom MK R/C project) |
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| 85 | */ |
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| 86 | uint8_t controlMixer_getCommand(void) { |
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| 87 | // If the same command was made COMMAND_TIMER times, it's stable. |
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| 88 | if (commandTimer >= COMMAND_TIMER) { |
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| 89 | return lastCommand; |
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| 90 | } |
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| 91 | return COMMAND_NONE; |
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| 92 | } |
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| 93 | |||
| 94 | uint8_t controlMixer_isCommandRepeated(void) { |
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| 95 | return commandTimer > COMMAND_TIMER ? 1 : 0; |
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| 96 | } |
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| 97 | |||
| 98 | void controlMixer_setNeutral(uint8_t calibrate) { |
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| 99 | if (calibrate) |
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| 100 | RC_calibrate(); |
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| 101 | EC_setNeutral(); |
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| 102 | } |
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| 103 | |||
| 104 | /* |
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| 105 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
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| 106 | * No slew rate limitation. |
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| 107 | */ |
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| 108 | void controlMixer_initVariables(void) { |
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| 109 | uint8_t i; |
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| 110 | for (i=0; i<8; i++) { |
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| 111 | variables[i] = RC_getVariable(i); |
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| 112 | } |
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| 113 | } |
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| 114 | |||
| 115 | /* |
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| 116 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
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| 117 | */ |
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| 118 | void controlMixer_updateVariables(void) { |
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| 119 | uint8_t i; |
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| 120 | int16_t targetvalue; |
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| 121 | for (i=0; i<8; i++) { |
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| 122 | targetvalue = RC_getVariable(i); |
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| 123 | if (targetvalue < 0) targetvalue = 0; |
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| 124 | if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
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| 125 | } |
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| 126 | } |
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| 127 | |||
| 128 | uint8_t controlMixer_getSignalQuality(void) { |
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| 129 | uint8_t rcQ = RC_getSignalQuality(); |
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| 130 | uint8_t ecQ = EC_getSignalQuality(); |
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| 131 | // This needs not be the only correct solution... |
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| 132 | return rcQ > ecQ ? rcQ : ecQ; |
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| 133 | } |
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| 134 | |||
| 135 | /* |
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| 136 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
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| 137 | */ |
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| 138 | void controlMixer_update(void) { |
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| 139 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
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| 140 | // TODO: If no signal --> zero. |
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| 1645 | - | 141 | uint8_t axis; |
| 1612 | dongfang | 142 | RC_update(); |
| 143 | EC_update(); |
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| 144 | |||
| 145 | int16_t* RC_PRTY = RC_getPRTY(); |
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| 146 | int16_t* EC_PRTY = EC_getPRTY(); |
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| 147 | |||
| 1645 | - | 148 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| 149 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
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| 1634 | - | 150 | controlThrottle = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]; |
| 151 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
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| 152 | |||
| 1612 | dongfang | 153 | if (RC_getSignalQuality() >= SIGNAL_GOOD) { |
| 154 | controlMixer_updateVariables(); |
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| 155 | configuration_applyVariablesToParams(); |
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| 156 | looping = RC_getLooping(looping); |
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| 157 | } else { // Signal is not OK |
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| 158 | // Could handle switch to emergency flight here. |
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| 159 | // throttle is handled elsewhere. |
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| 160 | looping = 0; |
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| 161 | } |
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| 162 | |||
| 163 | DebugOut.Analog[18] = (int16_t)looping; |
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| 164 | |||
| 165 | // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
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| 166 | // TODO: Correct, for changed range (stick gain + expo is now applied already) |
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| 167 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
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| 168 | if (controlYaw > 2) controlYaw-= 2; |
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| 169 | else if (controlYaw< -2) controlYaw += 2; |
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| 170 | else controlYaw = 0; |
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| 171 | } |
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| 172 | |||
| 173 | /* |
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| 174 | * Record maxima |
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| 175 | */ |
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| 1645 | - | 176 | for (axis=PITCH; axis<=ROLL; axis++) { |
| 177 | if(abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
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| 178 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
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| 179 | if(maxControl[axis] > 100) maxControl[axis] = 100; |
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| 180 | } else if (maxControl[axis]) maxControl[axis]--; |
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| 1612 | dongfang | 181 | } |
| 182 | |||
| 183 | // Here we could blend in other sources. |
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| 184 | uint8_t commandNow = RC_getCommand(); |
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| 185 | |||
| 186 | if (commandNow != lastCommand) { |
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| 187 | lastCommand = commandNow; |
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| 188 | commandTimer = 0; |
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| 189 | } else if (commandTimer < COMMAND_TIMER + 1) |
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| 190 | commandTimer++; |
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| 191 | } |
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| 192 | |||
| 193 | /* |
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| 194 | void setCompassCalState(void) { |
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| 195 | static uint8_t stick = 1; |
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| 196 | // if pitch is centered or top set stick to zero |
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| 197 | if(RCChannel(CH_PITCH) > -20) stick = 0; |
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| 198 | // if pitch is down trigger to next cal state |
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| 199 | if((RCChannel(CH_PITCH) < -70) && !stick) { |
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| 200 | stick = 1; |
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| 201 | compassCalState++; |
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| 202 | if(compassCalState < 5) beepNumber(compassCalState); |
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| 203 | else beep(1000); |
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| 204 | } |
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| 205 | } |
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| 206 | */ |