Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

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

// + 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

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

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

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  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 <avr/io.h>

#include "main.h"

#include "eeprom.h"

#include "timer0.h"

#include "_Settings.h"

#include "analog.h"

#include "fc.h"

#include "gps.h"

#include "uart.h"

#include "rc.h"

#include "twimaster.h"

#include "mm3.h"

volatile unsigned int I2CTimeout = 100;

// gyro readings

volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;

// gyro neutral readings

volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;

volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;

// mean accelerations

volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;

// neutral acceleration readings

volatile int16_t NeutralAccX=0, NeutralAccY=0;

volatile float NeutralAccZ = 0;

// attitude gyro integrals

volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;

volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;

volatile int32_t IntegralYaw = 0;

volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;

volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;

volatile int32_t Reading_IntegralGyroYaw = 0,   Reading_IntegralGyroYaw2 = 0;

volatile int32_t MeanIntegralPitch;

volatile int32_t MeanIntegralRoll;

// attitude acceleration integrals

volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0;

volatile int32_t Reading_Integral_Top = 0;

// compass course

volatile int16_t CompassHeading = 0;

volatile int16_t CompassCourse = 0;

volatile int16_t CompassOffCourse = 0;

// flags

uint8_t MotorsOn = 0;

int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;

float Gyro_P_Factor;

float Gyro_I_Factor;

volatile int16_t  DiffPitch, DiffRoll;

int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;

// setpoints for motors

volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;

// stick values derived by rc channels readings

int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;

int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0;

// stick values derived by uart inputs

int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20;

int16_t ReadingHight = 0;

int16_t SetPointHight = 0;

int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;

float Ki =  FACTOR_I;

uint8_t Looping_Pitch = 0, Looping_Roll = 0;

uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;

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};

/************************************************************************/

/*  Creates numbeeps beeps at the speaker                               */

/************************************************************************/

void Beep(uint8_t numbeeps)

{

        while(numbeeps--)

        {

                if(MotorsOn) return; //auf keinen Fall im Flug!

                BeepTime = 100; // 0.1 second

                Delay_ms(250); // blocks 250 ms as pause to next beep,

                // this will block the flight control loop,

                // therefore do not use this funktion if motors are running

        }

}

/************************************************************************/

/*  Neutral Readings                                                    */

/************************************************************************/

void SetNeutral(void)

{

        NeutralAccX = 0;

        NeutralAccY = 0;

        NeutralAccZ = 0;

    AdNeutralPitch = 0;

        AdNeutralRoll = 0;

        AdNeutralYaw = 0;

    FCParam.Yaw_PosFeedback = 0;

    FCParam.Yaw_NegFeedback = 0;

    CalibMean();

    Delay_ms_Mess(100);

        CalibMean();

    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Hight Control activated?

    {

                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();

    }

        AdNeutralPitch = AdValueGyrPitch;

        AdNeutralRoll  = AdValueGyrRoll;

        AdNeutralYaw   = AdValueGyrYaw;

        StartNeutralRoll  = AdNeutralRoll;

        StartNeutralPitch = AdNeutralPitch;

    if(GetParamByte(PID_ACC_PITCH) > 4)

    {

                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;

                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;

                NeutralAccZ = Current_AccZ;

    }

    else

    {

                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);

            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);

            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);

    }

        Reading_IntegralGyroPitch = 0;

    Reading_IntegralGyroPitch2 = 0;

    Reading_IntegralGyroRoll = 0;

    Reading_IntegralGyroRoll2 = 0;

    Reading_IntegralGyroYaw = 0;

    Reading_GyroPitch = 0;

    Reading_GyroRoll = 0;

    Reading_GyroYaw = 0;

    StartAirPressure = AirPressure;

    HightD = 0;

    Reading_Integral_Top = 0;

    CompassCourse = CompassHeading;

    BeepTime = 50;

        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;

        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;

    ExternHightValue = 0;

}

/************************************************************************/

/*  Averaging Measurement Readings                                      */

/************************************************************************/

void Mean(void)

{

    static int32_t tmpl,tmpl2;

 // Get offset corrected gyro readings (~ to angular velocity)

    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;

    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;

    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;

        DebugOut.Analog[26] = Reading_GyroPitch;

        DebugOut.Analog[28] = Reading_GyroRoll;

// Acceleration Sensor

        // sliding average sensor readings

        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;

        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;

        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;

        // sum sensor readings for later averaging

    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;

    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;

    IntegralAccZ     += Current_AccZ - NeutralAccZ;

// Yaw

        // calculate yaw gyro intergral (~ to rotation angle)

    Reading_IntegralGyroYaw  += Reading_GyroYaw;

    Reading_IntegralGyroYaw2 += Reading_GyroYaw;

        // Coupling fraction

        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))

        {

                tmpl = Reading_IntegralGyroPitch / 4096L;

                tmpl *= Reading_GyroYaw;

                tmpl *= FCParam.Yaw_PosFeedback;  //125

                tmpl /= 2048L;

                tmpl2 = Reading_IntegralGyroRoll / 4096L;

                tmpl2 *= Reading_GyroYaw;

                tmpl2 *= FCParam.Yaw_PosFeedback;

                tmpl2 /= 2048L;

        }

        else  tmpl = tmpl2 = 0;

// Roll

        Reading_GyroRoll += tmpl;

        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109

        Reading_IntegralGyroRoll2 += Reading_GyroRoll;

        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;

        if(Reading_IntegralGyroRoll > TurnOver180Roll)

        {

                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);

                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;

        }

        if(Reading_IntegralGyroRoll < -TurnOver180Roll)

        {

                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);

                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;

        }

        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;

        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;

        if(BoardRelease == 10)

        {

                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;

                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;

        }

        else

        {

                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;

                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;

        }

// Pitch

        Reading_GyroPitch -= tmpl2;

        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;

        Reading_IntegralGyroPitch2 += Reading_GyroPitch;

        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;

        if(Reading_IntegralGyroPitch > TurnOver180Pitch)

        {

         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L);

         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;

        }

        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)

        {

         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 10000L);

         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;

        }

        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;

        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;

        if(BoardRelease == 10)

        {

                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;

                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;

        }

        else

        {

                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;

                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;

        }

// start ADC

    ADC_Enable();

    IntegralYaw    = Reading_IntegralGyroYaw;

    IntegralPitch  = Reading_IntegralGyroPitch;

    IntegralRoll   = Reading_IntegralGyroRoll;

    IntegralPitch2 = Reading_IntegralGyroPitch2;

    IntegralRoll2  = Reading_IntegralGyroRoll2;

        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)

        {

                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);

                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);

                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);

                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);

        }

        //update poti values by rc-signals

    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;

    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;

    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;

    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;

        //limit poti values

    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;

    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;

    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;

    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;

}

/************************************************************************/

/*  Averaging Measurement Readings  for Calibration                     */

/************************************************************************/

void CalibMean(void)

{

    // stop ADC to avoid changing values during calculation

        ADC_Disable();

        Reading_GyroPitch = AdValueGyrPitch;

        Reading_GyroRoll  = AdValueGyrRoll;

        Reading_GyroYaw   = AdValueGyrYaw;

        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;

        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;

        Mean_AccTop   = (int32_t)AdValueAccTop;

    // start ADC

    ADC_Enable();

    //update poti values by rc-signals (why not +127?)

    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;

    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;

    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;

    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;

        //limit poti values

    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;

    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;

    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;

    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;

        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;

        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;

}

/************************************************************************/

/*  Transmit Motor Data via I2C                                         */

/************************************************************************/

void SendMotorData(void)

{

    if(MOTOR_OFF || !MotorsOn)

    {

        Motor_Rear = 0;

        Motor_Front = 0;

        Motor_Right = 0;

        Motor_Left = 0;

        if(MotorTest[0]) Motor_Front = MotorTest[0];

        if(MotorTest[1]) Motor_Rear = MotorTest[1];

        if(MotorTest[2]) Motor_Left = MotorTest[2];

        if(MotorTest[3]) Motor_Right = MotorTest[3];

     }

    DebugOut.Analog[12] = Motor_Front;

    DebugOut.Analog[13] = Motor_Rear;

    DebugOut.Analog[14] = Motor_Left;

    DebugOut.Analog[15] = Motor_Right;

    //Start I2C Interrupt Mode

    twi_state = 0;

    motor = 0;

    I2C_Start();

}

/************************************************************************/

/*  Maps the parameter to poti values                                   */

/************************************************************************/

void ParameterMapping(void)

{

        #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;}

        CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255);

        CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100);

        CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100);

        CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255);

        CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);

        CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);

        CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);

        CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);

        CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);

        CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);

        CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);

        CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);

        CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);

        CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);

        CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);

        CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);

        CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);

        CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);

        CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);

        CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);

        CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);

        Ki = (float) FCParam.I_Factor * FACTOR_I;

}

/************************************************************************/

/*  MotorControl                                                        */

/************************************************************************/

void MotorControl(void)

{

         int16_t MotorValue, pd_result, h, tmp_int;

         int16_t YawMixFraction, ThrustMixFraction;

     static int32_t SumPitch = 0, SumRoll = 0;

     static int32_t SetPointYaw = 0;

     static int32_t IntegralErrorPitch = 0;

     static int32_t IntegralErrorRoll = 0;

         static uint16_t RcLostTimer;

         static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;

         static uint16_t Modell_Is_Flying = 0;

         static uint8_t EmergencyLanding = 0;

         static uint8_t HightControlActive = 0;

     static int16_t HightControlThrust = 0;

     static int8_t TimerDebugOut = 0;

     static int8_t StoreNewCompassCourse = 0;

     static int32_t CorrectionPitch, CorrectionRoll;

        Mean();

    GRN_ON;

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

// determine thrust value

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

        ThrustMixFraction = StickThrust;

    if(ThrustMixFraction < 0) ThrustMixFraction = 0;

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

// RC-signal is bad

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

// SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation

// of a channel to previous frame is less than 1% the SenderOkay is incremented by 10.

// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80

// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame

// the main loop is running 11 times that decrements the SenderOkay by 11.

if(SenderOkay < 100)  // the rc-frame signal is not reveived or noisy

        {

                if(!PcAccess) // if also no PC-Access via UART

                {

                        if(BeepModulation == 0xFFFF)

                        {

                         BeepTime = 15000; // 1.5 seconds

                         BeepModulation = 0x0C00;

                        }

                }

                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost

                else // rc lost countdown finished

                {

                  MotorsOn = 0; // stop all motors

                  EmergencyLanding = 0; // emergency landing is over

                }

                ROT_ON; // set red led

                if(Modell_Is_Flying > 2000)  // wahrscheinlich in der Luft --> langsam absenken

                {

                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust

                        EmergencyLanding = 1; // enable emergency landing

                        // set neutral rc inputs

                        PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;

                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;

                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;

                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;

                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;

                }

                else MotorsOn = 0; // switch of all motors

        }

        else

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

// RC-signal is good

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

        if(SenderOkay > 140)

        {

                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay

                // reset emergency timer

                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;

                if(ThrustMixFraction > 40)

                {

                        if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++;

                }

                if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40))

                {

                        SumPitch = 0;

                        SumRoll = 0;

                        Reading_IntegralGyroYaw = 0;

                        Reading_IntegralGyroYaw2 = 0;

                }

                // if motors are off and the thrust stick is in the upper position

                if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)

                {

                        // and if the yaw stick is in the leftmost position

                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)

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

// calibrate the neutral readings of all attitude sensors

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

                        {

                        if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)

                        {

                                delay_neutral = 0;

                                GRN_OFF;

                                Modell_Is_Flying = 0;

                                // check roll/pitch stick position

                                // if pitch stick is topmost or roll stick is leftmost --> change parameter setting

                                // according to roll/pitch stick position

                                if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)

                                {

                                         uint8_t setting = 1; // default

                                         //  _________

                                         // |2   3   4|

                                         // |         |

                                         // |1       5|

                                         // |         |

                                         // |_________|

                                         //

                                         // roll stick leftmost and pitch stick centered --> setting 1

                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;

                                         // roll stick leftmost and pitch stick topmost --> setting 2

                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;

                                         // roll stick centered an pitch stick topmost --> setting 3

                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;

                                         // roll stick rightmost and pitch stick topmost --> setting 4

                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;

                                         // roll stick rightmost and pitch stick centered --> setting 5

                                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;

                                         // update active parameter set in eeprom

                                         SetActiveParamSet(setting);

                                }

                                ParamSet_ReadFromEEProm(GetActiveParamSet());

                                SetNeutral();

                                Beep(GetActiveParamSet());

                                }

                        }

                        // and if the yaw stick is in the rightmost position

                        // save the ACC neutral setting to eeprom

            else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)

                        {

                        if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)

                                {

                                delay_neutral = 0;

                                GRN_OFF;

                                SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid

                                Modell_Is_Flying = 0;

                                SetNeutral();

                                // Save ACC neutral settings to eeprom

                                SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);

                                SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);

                                SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);

                                Beep(GetActiveParamSet());

                                }

                        }

            else delay_neutral = 0;

                }

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

// thrust stick is down

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

                if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)

                {

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

// and yaw stick is rightmost --> start motors

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

                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)

                        {

                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)

                                {

                                        delay_startmotors = 200; // do not repeat if once executed

                                        Modell_Is_Flying = 1;

                                        MotorsOn = 1;

                                        SetPointYaw = 0;

                                        Reading_IntegralGyroYaw = 0;

                                        Reading_IntegralGyroYaw2 = 0;

                                        Reading_IntegralGyroPitch = 0;

                                        Reading_IntegralGyroRoll = 0;

                                        Reading_IntegralGyroPitch2 = IntegralPitch;

                                        Reading_IntegralGyroRoll2 = IntegralRoll;

                                        SumPitch = 0;

                                        SumRoll = 0;

                                }

                        }

                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position

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

// and yaw stick is leftmost --> stop motors

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

                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)

                                {

                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)

                                {

                                        delay_stopmotors = 200; // do not repeat if once executed

                                        Modell_Is_Flying = 0;

                                        MotorsOn = 0;

                                }

                        }

                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position

                        }

                }

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

// new values from RC

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

                if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC

                {

                        int tmp_int;

                        ParameterMapping(); // remapping params (online poti replacement)

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

                        StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;

                        StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;

                        StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;

                        StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;

                        // direct mapping of yaw and thrust

                        StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];

                        StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers

                        // update max stick positions for pitch, roll and yaw

                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)

                                MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]);

                        else MaxStickPitch--;

                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)

                                MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);

                        else MaxStickRoll--;

                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw)

                                MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);

                        else MaxStickYaw--;

                        // update gyro control loop factors

                        Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0;

                        Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000;

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

// Digital Control via DubWise

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

                        #define KEY_VALUE (FCParam.UserParam1 * 4) // step width

                        if(DubWiseKeys[1]) BeepTime = 10;

                        if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;

                        else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;

                        else tmp_int = 0;

                        ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;

                        if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;

                        else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;

                        else tmp_int = 0;

                        ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;

                        if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else

                        if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;

                        if(DubWiseKeys[0] & 2)  ExternHightValue++;

                        if(DubWiseKeys[0] & 16) ExternHightValue--;

                        StickPitch += ExternStickPitch / 8;

                        StickRoll += ExternStickRoll / 8;

                        StickYaw += ExternStickYaw;

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

//+ Analoge Control via serial communication

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

                    if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)

                        {

                                 StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;