Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

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

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

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

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

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

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

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

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

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

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

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

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

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

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

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

#include <stdlib.h>

#include "controlMixer.h"

#include "rc.h"

#include "externalControl.h"

#include "configuration.h"

#include "attitude.h"

#include "eeprom.h"

#include "flight.h"

/*

 * Number of cycles a command must be repeated before commit. Maybe this really belongs in RC.

 */

#define COMMAND_TIMER 200

uint16_t maxControlPitch = 0, maxControlRoll = 0;

int16_t controlPitch = 0, controlRoll = 0, controlYaw = 0, controlThrottle = 0;

uint8_t looping = 0;

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

uint8_t lastCommand  = COMMAND_NONE;

uint8_t commandTimer = 0;

/*

 * This could be expanded to take arguments from ohter sources than the RC

 * (read: Custom MK RC project)

 */

uint8_t controlMixer_getArgument(void) {

  return RC_getArgument();

}

/*

 * 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 controlMixer_getCommand(void) {

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

  if (commandTimer >= COMMAND_TIMER) {

    return lastCommand;

  }

  return COMMAND_NONE;

}

uint8_t controlMixer_isCommandRepeated(void) {

  return commandTimer > COMMAND_TIMER ? 1 : 0;

}

void controlMixer_setNeutral(uint8_t calibrate) {

  if (calibrate)

    RC_calibrate();

  EC_setNeutral();

}

/*

 * Set the potientiometer values to the momentary values of the respective R/C channels.

 * No slew rate limitation.

 */

void controlMixer_initVariables(void) {

  uint8_t i;

  for (i=0; i<8; i++) {

    variables[i] = RC_getVariable(i);

  }

}

/*

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

 */

void controlMixer_updateVariables(void) {

  uint8_t i;

  int16_t targetvalue;

  for (i=0; i<8; i++) {

    targetvalue = RC_getVariable(i);

    if (targetvalue < 0) targetvalue = 0;

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

  }

}

uint8_t controlMixer_getSignalQuality(void) {

  uint8_t rcQ = RC_getSignalQuality();

  uint8_t ecQ = EC_getSignalQuality();

  DebugOut.Analog[16] = rcQ;

  DebugOut.Analog[17] = ecQ;

  // This needs not be the only correct solution...

  return rcQ > ecQ ? rcQ : ecQ;

}

/*

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

 */

void controlMixer_update(void) {

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

  // TODO: If no signal --> zero.

  RC_update();

  EC_update();

  int16_t* RC_PRTY = RC_getPRTY();

  int16_t* EC_PRTY = EC_getPRTY();

  controlPitch     = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH];

  controlRoll      = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL];

  DebugOut.Analog[14] = controlThrottle  = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE];

  DebugOut.Analog[15] = controlYaw       = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];

  if (RC_getSignalQuality() >= SIGNAL_GOOD) {

    controlMixer_updateVariables();

    configuration_applyVariablesToParams();

    looping = RC_getLooping(looping);

  } else { // Signal is not OK

    // Could handle switch to emergency flight here.

    // throttle is handled elsewhere.

    looping = 0;

  }

  DebugOut.Analog[18] = (int16_t)looping;

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

  // TODO: Correct, for changed range (stick gain + expo is now applied already)

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

    if (controlYaw > 2) controlYaw-= 2;

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

    else controlYaw = 0;

  }

  /*

   * Record maxima

   */

  if(abs(controlPitch / STICK_GAIN) > maxControlPitch) {

    maxControlPitch = abs(controlPitch) / STICK_GAIN;

    if(maxControlPitch > 100) maxControlPitch = 100;

  } else if (maxControlPitch) maxControlPitch--;

  if(abs(controlRoll / STICK_GAIN) > maxControlRoll) {

    maxControlRoll = abs(controlRoll) / STICK_GAIN;

    if(maxControlRoll > 100) maxControlRoll = 100;

  }

  else if (maxControlRoll) maxControlRoll--;

  // Here we could blend in other sources.

  uint8_t commandNow = RC_getCommand();

  if (commandNow != lastCommand) {

    lastCommand = commandNow;

    commandTimer = 0;

  } else if (commandTimer < COMMAND_TIMER + 1)

    commandTimer++;

}

/*

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);

  }

}

*/