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Rev | Author | Line No. | Line |
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1868 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1612 | dongfang | 2 | // + Copyright (c) 04.2007 Holger Buss |
1870 | - | 3 | // + Nur für den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1870 | - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1870 | - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1870 | - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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1612 | dongfang | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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1870 | - | 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
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1612 | dongfang | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1870 | - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1870 | - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
1612 | dongfang | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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1870 | - | 25 | // + mit unserer Zustimmung zulässig |
1612 | dongfang | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
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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1870 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
1612 | dongfang | 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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 <avr/io.h> |
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54 | #include "eeprom.h" |
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55 | #include "flight.h" |
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1845 | - | 56 | #include "output.h" |
1612 | dongfang | 57 | |
58 | // Only for debug. Remove. |
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1645 | - | 59 | //#include "analog.h" |
60 | //#include "rc.h" |
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1612 | dongfang | 61 | |
62 | // Necessary for external control and motor test |
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63 | #include "uart0.h" |
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64 | #include "twimaster.h" |
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65 | #include "attitude.h" |
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66 | #include "controlMixer.h" |
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1775 | - | 67 | #include "commands.h" |
1612 | dongfang | 68 | #ifdef USE_MK3MAG |
69 | #include "gps.h" |
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70 | #endif |
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71 | |||
72 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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73 | |||
74 | /* |
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75 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
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76 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
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77 | */ |
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1645 | - | 78 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
1612 | dongfang | 79 | |
1872 | - | 80 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
1612 | dongfang | 81 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
82 | |||
83 | // Some integral weight constant... |
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84 | uint16_t Ki = 10300 / 33; |
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85 | |||
86 | /************************************************************************/ |
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87 | /* Filter for motor value smoothing (necessary???) */ |
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88 | /************************************************************************/ |
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89 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
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1988 | - | 90 | switch (staticParams.motorSmoothing) { |
1841 | - | 91 | case 0: |
92 | return newvalue; |
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93 | case 1: |
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1872 | - | 94 | return (oldvalue + newvalue) / 2; |
1841 | - | 95 | case 2: |
1872 | - | 96 | if (newvalue > oldvalue) |
97 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
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98 | else |
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1841 | - | 99 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
100 | case 3: |
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1872 | - | 101 | if (newvalue < oldvalue) |
102 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
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103 | else |
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1841 | - | 104 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
1872 | - | 105 | default: |
106 | return newvalue; |
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1841 | - | 107 | } |
1612 | dongfang | 108 | } |
109 | |||
110 | /************************************************************************/ |
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111 | /* Neutral Readings */ |
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112 | /************************************************************************/ |
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113 | void flight_setNeutral() { |
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1841 | - | 114 | MKFlags |= MKFLAG_CALIBRATE; |
115 | // not really used here any more. |
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1960 | - | 116 | /* |
1841 | - | 117 | dynamicParams.KalmanK = -1; |
118 | dynamicParams.KalmanMaxDrift = 0; |
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119 | dynamicParams.KalmanMaxFusion = 32; |
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1960 | - | 120 | */ |
1841 | - | 121 | controlMixer_initVariables(); |
1612 | dongfang | 122 | } |
123 | |||
1872 | - | 124 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, |
125 | uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
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1841 | - | 126 | Ki = 10300 / _Ki; |
127 | gyroPFactor = _gyroPFactor; |
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128 | gyroIFactor = _gyroIFactor; |
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129 | yawPFactor = _yawPFactor; |
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130 | yawIFactor = _yawIFactor; |
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1612 | dongfang | 131 | } |
132 | |||
133 | void setNormalFlightParameters(void) { |
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1956 | - | 134 | setFlightParameters( |
135 | dynamicParams.IFactor, |
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1960 | - | 136 | dynamicParams.gyroP, |
137 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
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138 | dynamicParams.gyroP, |
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139 | dynamicParams.yawIFactor |
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1956 | - | 140 | ); |
1612 | dongfang | 141 | } |
142 | |||
143 | void setStableFlightParameters(void) { |
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1841 | - | 144 | setFlightParameters(33, 90, 120, 90, 120); |
1612 | dongfang | 145 | } |
146 | |||
147 | /************************************************************************/ |
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148 | /* Main Flight Control */ |
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149 | /************************************************************************/ |
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150 | void flight_control(void) { |
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1841 | - | 151 | int16_t tmp_int; |
1872 | - | 152 | // Mixer Fractions that are combined for Motor Control |
1841 | - | 153 | int16_t yawTerm, throttleTerm, term[2]; |
1612 | dongfang | 154 | |
1841 | - | 155 | // PID controller variables |
2015 | - | 156 | int16_t PDPart[2],/* DPart[2],*/ PDPartYaw /*, DPartYaw */; |
1872 | - | 157 | static int32_t IPart[2] = { 0, 0 }; |
1841 | - | 158 | static uint16_t emergencyFlightTime; |
159 | static int8_t debugDataTimer = 1; |
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1612 | dongfang | 160 | |
1841 | - | 161 | // High resolution motor values for smoothing of PID motor outputs |
162 | static int16_t motorFilters[MAX_MOTORS]; |
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1612 | dongfang | 163 | |
1841 | - | 164 | uint8_t i, axis; |
1612 | dongfang | 165 | |
1841 | - | 166 | // Fire the main flight attitude calculation, including integration of angles. |
1870 | - | 167 | // We want that to kick as early as possible, not to delay new AD sampling further. |
1841 | - | 168 | calculateFlightAttitude(); |
1870 | - | 169 | controlMixer_update(); |
1908 | - | 170 | throttleTerm = controls[CONTROL_THROTTLE]; |
1870 | - | 171 | |
1841 | - | 172 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
1960 | - | 173 | if (throttleTerm < staticParams.minThrottle + 10) |
174 | throttleTerm = staticParams.minThrottle + 10; |
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175 | else if (throttleTerm > staticParams.maxThrottle - 20) |
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176 | throttleTerm = (staticParams.maxThrottle - 20); |
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1612 | dongfang | 177 | |
1841 | - | 178 | /************************************************************************/ |
179 | /* RC-signal is bad */ |
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180 | /* This part could be abstracted, as having yet another control input */ |
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181 | /* to the control mixer: An emergency autopilot control. */ |
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182 | /************************************************************************/ |
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1775 | - | 183 | |
1872 | - | 184 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
1841 | - | 185 | beepRCAlarm(); |
1872 | - | 186 | |
187 | if (emergencyFlightTime) { |
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1841 | - | 188 | // continue emergency flight |
1872 | - | 189 | emergencyFlightTime--; |
190 | if (isFlying > 256) { |
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191 | // We're probably still flying. Descend slowly. |
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1960 | - | 192 | throttleTerm = staticParams.emergencyThrottle; // Set emergency throttle |
193 | MKFlags |= (MKFLAG_EMERGENCY_FLIGHT); // Set flag for emergency landing |
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1872 | - | 194 | setStableFlightParameters(); |
1841 | - | 195 | } else { |
1872 | - | 196 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
1841 | - | 197 | } |
198 | } else { |
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199 | // end emergency flight (just cut the motors???) |
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1960 | - | 200 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_FLIGHT); |
1841 | - | 201 | } |
1872 | - | 202 | } else { |
1841 | - | 203 | // signal is acceptable |
1872 | - | 204 | if (controlMixer_getSignalQuality() > SIGNAL_BAD) { |
1841 | - | 205 | // Reset emergency landing control variables. |
1960 | - | 206 | MKFlags &= ~(MKFLAG_EMERGENCY_FLIGHT); // clear flag for emergency landing |
1841 | - | 207 | // The time is in whole seconds. |
1960 | - | 208 | emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration * 488; |
1841 | - | 209 | } |
1612 | dongfang | 210 | |
1841 | - | 211 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
1872 | - | 212 | if (throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
1841 | - | 213 | // increment flight-time counter until overflow. |
1872 | - | 214 | if (isFlying != 0xFFFF) |
215 | isFlying++; |
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216 | } else |
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217 | /* |
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218 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
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219 | * Probably to avoid integration effects that will cause the copter to spin |
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220 | * or flip when taking off. |
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221 | */ |
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1960 | - | 222 | if (isFlying < 256) { |
223 | IPart[PITCH] = IPart[ROLL] = 0; |
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224 | // TODO: Don't stomp on other modules' variables!!! |
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225 | // controlYaw = 0; |
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226 | PDPartYaw = 0; // instead. |
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227 | if (isFlying == 250) { |
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228 | // HC_setGround(); |
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229 | updateCompassCourse = 1; |
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230 | yawAngleDiff = 0; |
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231 | } |
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232 | } else { |
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233 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
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234 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
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235 | MKFlags |= (MKFLAG_FLY); |
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1841 | - | 236 | } |
1960 | - | 237 | |
1872 | - | 238 | commands_handleCommands(); |
1841 | - | 239 | setNormalFlightParameters(); |
240 | } // end else (not bad signal case) |
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1960 | - | 241 | |
1841 | - | 242 | /************************************************************************/ |
243 | /* Yawing */ |
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244 | /************************************************************************/ |
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1960 | - | 245 | if (abs(controls[CONTROL_YAW]) > 4 * staticParams.stickYawP) { // yaw stick is activated |
1841 | - | 246 | ignoreCompassTimer = 1000; |
1960 | - | 247 | if (!(staticParams.bitConfig & CFG_COMPASS_FIX)) { |
1841 | - | 248 | updateCompassCourse = 1; |
249 | } |
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250 | } |
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1872 | - | 251 | |
1960 | - | 252 | // yawControlRate = controlYaw; |
1841 | - | 253 | // Trim drift of yawAngleDiff with controlYaw. |
254 | // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
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255 | // This seems to be used as: Difference desired <--> real heading. |
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1908 | - | 256 | yawAngleDiff -= controls[CONTROL_YAW]; |
1872 | - | 257 | |
1841 | - | 258 | // limit the effect |
259 | CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
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1872 | - | 260 | |
1841 | - | 261 | /************************************************************************/ |
262 | /* Compass is currently not supported. */ |
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263 | /************************************************************************/ |
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1960 | - | 264 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
1841 | - | 265 | updateCompass(); |
266 | } |
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1872 | - | 267 | |
1805 | - | 268 | #if defined (USE_NAVICTRL) |
1841 | - | 269 | /************************************************************************/ |
270 | /* GPS is currently not supported. */ |
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271 | /************************************************************************/ |
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272 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
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273 | GPS_Main(); |
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274 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
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275 | } else { |
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276 | } |
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1612 | dongfang | 277 | #endif |
1841 | - | 278 | // end part 1: 750-800 usec. |
279 | // start part 3: 350 - 400 usec. |
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1645 | - | 280 | #define SENSOR_LIMIT (4096 * 4) |
1872 | - | 281 | /************************************************************************/ |
1775 | - | 282 | |
1872 | - | 283 | /* Calculate control feedback from angle (gyro integral) */ |
284 | /* and angular velocity (gyro signal) */ |
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285 | /************************************************************************/ |
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286 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
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287 | for (axis = PITCH; axis <= ROLL; axis++) { |
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2015 | - | 288 | PDPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
1960 | - | 289 | |
1841 | - | 290 | /* |
291 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
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292 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
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293 | * where pfactor is in [0..1]. |
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294 | */ |
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2015 | - | 295 | PDPart[axis] += (int32_t) ((int32_t) rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) + (differential[axis] * (int16_t) dynamicParams.gyroD) / 16; |
1841 | - | 296 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
297 | } |
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1775 | - | 298 | |
2015 | - | 299 | PDPartYaw = (int32_t) (yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
300 | PDPartYaw += (int32_t) (yawRate * 2 * (int32_t) yawPFactor) / (256L / CONTROL_SCALING); |
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1872 | - | 301 | |
1841 | - | 302 | // limit control feedback |
1992 | - | 303 | // CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
1872 | - | 304 | |
1841 | - | 305 | /* |
306 | * Compose throttle term. |
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307 | * If a Bl-Ctrl is missing, prevent takeoff. |
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308 | */ |
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1872 | - | 309 | if (missingMotor) { |
1841 | - | 310 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
1872 | - | 311 | if (isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
1841 | - | 312 | isFlying = 1; // keep within lift off condition |
1960 | - | 313 | throttleTerm = staticParams.minThrottle; // reduce gas to min to avoid lift of |
1841 | - | 314 | } |
1612 | dongfang | 315 | |
1841 | - | 316 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
317 | throttleTerm *= CONTROL_SCALING; |
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1612 | dongfang | 318 | |
1841 | - | 319 | /* |
320 | * Compose yaw term. |
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321 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
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322 | * However, at low throttle the yaw term is limited to a fixed value, |
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323 | * and at high throttle it is limited by the throttle reserve (the difference |
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324 | * between current throttle and maximum throttle). |
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325 | */ |
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1645 | - | 326 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
1908 | - | 327 | yawTerm = PDPartYaw - controls[CONTROL_YAW] * CONTROL_SCALING; |
1841 | - | 328 | // Limit yawTerm |
1955 | - | 329 | debugOut.digital[0] &= ~DEBUG_CLIP; |
1872 | - | 330 | if (throttleTerm > MIN_YAWGAS) { |
331 | if (yawTerm < -throttleTerm / 2) { |
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1955 | - | 332 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 333 | yawTerm = -throttleTerm / 2; |
334 | } else if (yawTerm > throttleTerm / 2) { |
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1955 | - | 335 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 336 | yawTerm = throttleTerm / 2; |
1841 | - | 337 | } |
338 | //CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
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339 | } else { |
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1872 | - | 340 | if (yawTerm < -MIN_YAWGAS / 2) { |
1955 | - | 341 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 342 | yawTerm = -MIN_YAWGAS / 2; |
343 | } else if (yawTerm > MIN_YAWGAS / 2) { |
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1955 | - | 344 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 345 | yawTerm = MIN_YAWGAS / 2; |
1841 | - | 346 | } |
347 | //CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
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348 | } |
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1775 | - | 349 | |
1841 | - | 350 | // FIXME: Throttle may exceed maxThrottle (there is no check no more). |
1960 | - | 351 | tmp_int = staticParams.maxThrottle * CONTROL_SCALING; |
1845 | - | 352 | if (yawTerm < -(tmp_int - throttleTerm)) { |
353 | yawTerm = -(tmp_int - throttleTerm); |
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1955 | - | 354 | debugOut.digital[0] |= DEBUG_CLIP; |
1845 | - | 355 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
356 | yawTerm = (tmp_int - throttleTerm); |
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1955 | - | 357 | debugOut.digital[0] |= DEBUG_CLIP; |
1841 | - | 358 | } |
1867 | - | 359 | |
1841 | - | 360 | // CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
1955 | - | 361 | debugOut.digital[1] &= ~DEBUG_CLIP; |
1872 | - | 362 | for (axis = PITCH; axis <= ROLL; axis++) { |
1841 | - | 363 | /* |
364 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
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365 | */ |
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1872 | - | 366 | if (gyroIFactor) { |
1841 | - | 367 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
368 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
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369 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
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2015 | - | 370 | IPart[axis] += PDPart[axis] - controls[axis]; // Integrate difference between P part (the angle) and the stick pos. |
1841 | - | 371 | } else { |
372 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
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373 | // To keep up with a full stick PDPart should be about 156... |
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1908 | - | 374 | IPart[axis] += PDPart[axis] - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
1841 | - | 375 | } |
1612 | dongfang | 376 | |
1960 | - | 377 | tmp_int = (int32_t) ((int32_t) dynamicParams.dynamicStability |
1872 | - | 378 | * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64; |
1612 | dongfang | 379 | |
1841 | - | 380 | // TODO: From which planet comes the 16000? |
381 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
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382 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
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1908 | - | 383 | term[axis] = PDPart[axis] - controls[axis] + IPart[axis] / Ki; // PID-controller for pitch |
1991 | - | 384 | term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
1841 | - | 385 | /* |
386 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
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387 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
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388 | * (max. pitch or roll term is the throttle value). |
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389 | * TODO: Why a growing function of yaw? |
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390 | */ |
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391 | if (term[axis] < -tmp_int) { |
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1955 | - | 392 | debugOut.digital[1] |= DEBUG_CLIP; |
1841 | - | 393 | } else if (term[axis] > tmp_int) { |
1955 | - | 394 | debugOut.digital[1] |= DEBUG_CLIP; |
1841 | - | 395 | } |
396 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
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397 | } |
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1775 | - | 398 | |
1841 | - | 399 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
400 | // Universal Mixer |
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401 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
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402 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1612 | dongfang | 403 | |
1976 | - | 404 | debugOut.analog[3] = rate_ATT[PITCH]; |
405 | debugOut.analog[4] = rate_ATT[ROLL]; |
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406 | debugOut.analog[5] = yawRate; |
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407 | |||
408 | debugOut.analog[6] = filteredAcc[PITCH]; |
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409 | debugOut.analog[7] = filteredAcc[ROLL]; |
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410 | debugOut.analog[8] = filteredAcc[Z]; |
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411 | |||
1955 | - | 412 | debugOut.analog[12] = term[PITCH]; |
413 | debugOut.analog[13] = term[ROLL]; |
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414 | debugOut.analog[14] = yawTerm; |
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415 | debugOut.analog[15] = throttleTerm; |
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1775 | - | 416 | |
1872 | - | 417 | for (i = 0; i < MAX_MOTORS; i++) { |
1874 | - | 418 | int32_t tmp; |
1908 | - | 419 | uint8_t throttle; |
420 | |||
1960 | - | 421 | tmp = (int32_t)throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
422 | tmp += (int32_t)term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
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423 | tmp += (int32_t)term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
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424 | tmp += (int32_t)yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
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1908 | - | 425 | tmp = tmp >> 6; |
426 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
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427 | // Now we scale back down to a 0..255 range. |
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428 | tmp = motorFilters[i] / MOTOR_SCALING; |
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429 | |||
430 | // So this was the THIRD time a throttle was limited. But should the limitation |
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431 | // apply to the common throttle signal (the one used for setting the "power" of |
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432 | // all motors together) or should it limit the throttle set for each motor, |
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433 | // including mix components of pitch, roll and yaw? I think only the common |
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434 | // throttle should be limited. |
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435 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
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436 | // Apply to individual signals instead. |
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437 | CHECK_MIN_MAX(tmp, 1, 255); |
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438 | throttle = tmp; |
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439 | |||
2017 | - | 440 | // if (i < 4) debugOut.analog[22 + i] = throttle; |
1908 | - | 441 | |
1960 | - | 442 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
1908 | - | 443 | motor[i].SetPoint = throttle; |
1872 | - | 444 | } else if (motorTestActive) { |
1841 | - | 445 | motor[i].SetPoint = motorTest[i]; |
446 | } else { |
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447 | motor[i].SetPoint = 0; |
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448 | } |
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449 | } |
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1872 | - | 450 | |
1841 | - | 451 | I2C_Start(TWI_STATE_MOTOR_TX); |
1872 | - | 452 | |
1841 | - | 453 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
454 | // Debugging |
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455 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1872 | - | 456 | if (!(--debugDataTimer)) { |
1841 | - | 457 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
1955 | - | 458 | debugOut.analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
459 | debugOut.analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
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460 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
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1612 | dongfang | 461 | |
1955 | - | 462 | debugOut.analog[16] = gyroPFactor; |
1841 | - | 463 | } |
1612 | dongfang | 464 | } |