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1 ingob 1
/*#######################################################################################
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Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
25
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 27
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
35
// +     from this software without specific prior written permission.
886 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
886 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
886 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
831 hbuss 42
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
45
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
49
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
492 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 51
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
886 killagreg 52
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 53
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 54
#include <stdlib.h>
55
#include <avr/io.h>
1 ingob 56
 
57
#include "main.h"
886 killagreg 58
#include "eeprom.h"
59
#include "timer0.h"
60
#include "_Settings.h"
61
#include "analog.h"
62
#include "fc.h"
63
#include "uart.h"
64
#include "rc.h"
65
#include "twimaster.h"
66
#include "timer2.h"
67
#ifdef USE_KILLAGREG
68
#include "mm3.h"
69
#include "gps.h"
70
#endif
908 killagreg 71
#ifdef USE_MK3MAG
886 killagreg 72
#include "mk3mag.h"
908 killagreg 73
#include "gps.h"
886 killagreg 74
#endif
75
#include "led.h"
1 ingob 76
 
886 killagreg 77
// gyro readings
936 killagreg 78
int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
886 killagreg 79
// gyro neutral readings
936 killagreg 80
int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
81
int16_t StartNeutralRoll = 0, StartNeutralNick = 0;
886 killagreg 82
// mean accelerations
936 killagreg 83
int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
886 killagreg 84
 
85
// neutral acceleration readings
86
volatile int16_t NeutralAccX=0, NeutralAccY=0;
1 ingob 87
volatile float NeutralAccZ = 0;
88
 
886 killagreg 89
// attitude gyro integrals
936 killagreg 90
int32_t IntegralNick = 0,IntegralNick2 = 0;
91
int32_t IntegralRoll = 0,IntegralRoll2 = 0;
92
int32_t IntegralYaw = 0;
93
int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0;
94
int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0;
95
int32_t Reading_IntegralGyroYaw = 0;
96
int32_t MeanIntegralNick;
97
int32_t MeanIntegralRoll;
1 ingob 98
 
886 killagreg 99
// attitude acceleration integrals
936 killagreg 100
int32_t IntegralAccNick = 0, IntegralAccRoll = 0;
886 killagreg 101
volatile int32_t Reading_Integral_Top = 0;
102
 
103
// compass course
104
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
105
volatile int16_t CompassCourse = -1;
106
volatile int16_t CompassOffCourse = 0;
107
volatile uint8_t CompassCalState = 0;
108
uint8_t FunnelCourse = 0;
109
uint16_t BadCompassHeading = 500;
110
int32_t YawGyroHeading;
111
int16_t YawGyroDrift;
112
 
113
 
911 killagreg 114
int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0;
886 killagreg 115
 
116
 
936 killagreg 117
// MK flags
886 killagreg 118
uint16_t Model_Is_Flying = 0;
936 killagreg 119
volatile uint8_t MKFlags = 0;
886 killagreg 120
 
911 killagreg 121
int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L;
886 killagreg 122
 
123
float Gyro_P_Factor;
124
float Gyro_I_Factor;
125
 
936 killagreg 126
int16_t  DiffNick, DiffRoll;
886 killagreg 127
 
128
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
129
 
130
// setpoints for motors
943 pangu 131
#ifdef HEXAKOPTER
132
volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
133
#else
134
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
135
#endif
886 killagreg 136
 
137
// stick values derived by rc channels readings
911 killagreg 138
int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0;
139
int16_t GPS_Nick = 0, GPS_Roll = 0;
886 killagreg 140
 
911 killagreg 141
int16_t MaxStickNick = 0, MaxStickRoll = 0;
886 killagreg 142
// stick values derived by uart inputs
911 killagreg 143
int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;
886 killagreg 144
 
145
 
146
 
147
 
148
int16_t ReadingHeight = 0;
149
int16_t SetPointHeight = 0;
150
 
911 killagreg 151
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0;
886 killagreg 152
 
153
float Ki =  FACTOR_I;
154
 
911 killagreg 155
uint8_t Looping_Nick = 0, Looping_Roll = 0;
886 killagreg 156
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
157
 
158
 
159
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};
160
 
161
 
162
/************************************************************************/
163
/*  Creates numbeeps beeps at the speaker                               */
164
/************************************************************************/
165
void Beep(uint8_t numbeeps)
1 ingob 166
{
886 killagreg 167
        while(numbeeps--)
168
        {
936 killagreg 169
                if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!
886 killagreg 170
                BeepTime = 100; // 0.1 second
171
                Delay_ms(250); // blocks 250 ms as pause to next beep,
172
                // this will block the flight control loop,
957 pangu 173
                // therefore do not use this function if motors are running
886 killagreg 174
        }
1 ingob 175
}
176
 
886 killagreg 177
/************************************************************************/
178
/*  Neutral Readings                                                    */
179
/************************************************************************/
1 ingob 180
void SetNeutral(void)
181
{
886 killagreg 182
        NeutralAccX = 0;
1 ingob 183
        NeutralAccY = 0;
184
        NeutralAccZ = 0;
911 killagreg 185
    AdNeutralNick = 0;
886 killagreg 186
        AdNeutralRoll = 0;
187
        AdNeutralYaw = 0;
188
    FCParam.Yaw_PosFeedback = 0;
189
    FCParam.Yaw_NegFeedback = 0;
190
    CalibMean();
395 hbuss 191
    Delay_ms_Mess(100);
886 killagreg 192
        CalibMean();
193
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Height Control activated?
513 hbuss 194
    {
886 killagreg 195
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
513 hbuss 196
    }
911 killagreg 197
        AdNeutralNick = AdValueGyrNick;
886 killagreg 198
        AdNeutralRoll  = AdValueGyrRoll;
199
        AdNeutralYaw   = AdValueGyrYaw;
200
        StartNeutralRoll  = AdNeutralRoll;
911 killagreg 201
        StartNeutralNick = AdNeutralNick;
202
    if(GetParamWord(PID_ACC_NICK) > 1023)
513 hbuss 203
    {
886 killagreg 204
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
911 killagreg 205
                NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY;
886 killagreg 206
                NeutralAccZ = Current_AccZ;
513 hbuss 207
    }
886 killagreg 208
    else
209
    {
911 killagreg 210
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
886 killagreg 211
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
212
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
213
    }
911 killagreg 214
        Reading_IntegralGyroNick = 0;
215
    Reading_IntegralGyroNick2 = 0;
886 killagreg 216
    Reading_IntegralGyroRoll = 0;
217
    Reading_IntegralGyroRoll2 = 0;
218
    Reading_IntegralGyroYaw = 0;
911 killagreg 219
    Reading_GyroNick = 0;
886 killagreg 220
    Reading_GyroRoll = 0;
221
    Reading_GyroYaw = 0;
936 killagreg 222
    Delay_ms_Mess(100);
886 killagreg 223
    StartAirPressure = AirPressure;
224
    HeightD = 0;
225
    Reading_Integral_Top = 0;
226
    CompassCourse = CompassHeading;
227
    BeepTime = 50;
911 killagreg 228
        TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L;
886 killagreg 229
        TurnOver180Roll =  ((int32_t) ParamSet.AngleTurnOverRoll *  2500L) +15000L;
230
    ExternHeightValue = 0;
911 killagreg 231
    GPS_Nick = 0;
886 killagreg 232
    GPS_Roll = 0;
233
    YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR;
234
    YawGyroDrift = 0;
936 killagreg 235
    MKFlags |= MKFLAG_CALIBRATE;
1 ingob 236
}
237
 
886 killagreg 238
/************************************************************************/
239
/*  Averaging Measurement Readings                                      */
240
/************************************************************************/
241
void Mean(void)
242
{
243
    static int32_t tmpl,tmpl2;
401 hbuss 244
 
886 killagreg 245
 // Get offset corrected gyro readings (~ to angular velocity)
246
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
247
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
911 killagreg 248
    Reading_GyroNick = AdValueGyrNick - AdNeutralNick;
604 hbuss 249
 
886 killagreg 250
// Acceleration Sensor
251
        // sliding average sensor readings
911 killagreg 252
        Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L;
886 killagreg 253
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
254
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
255
 
256
        // sum sensor readings for later averaging
911 killagreg 257
    IntegralAccNick += ACC_AMPLIFY * AdValueAccNick;
886 killagreg 258
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
259
 
911 killagreg 260
    NaviAccNick += AdValueAccNick;
886 killagreg 261
    NaviAccRoll  += AdValueAccRoll;
805 hbuss 262
    NaviCntAcc++;
882 hbuss 263
 
886 killagreg 264
// Yaw
265
        // calculate yaw gyro integral (~ to rotation angle)
266
        Reading_IntegralGyroYaw  += Reading_GyroYaw;
267
        YawGyroHeading += Reading_GyroYaw;
268
    if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR;  // 360° Wrap
269
        if(YawGyroHeading < 0)                             YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR;
395 hbuss 270
 
1 ingob 271
 
886 killagreg 272
        // Coupling fraction
911 killagreg 273
        if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
886 killagreg 274
        {
911 killagreg 275
                tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L;
886 killagreg 276
                tmpl *= FCParam.Yaw_PosFeedback;
277
                tmpl /= 4096L;
278
                tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L;
279
                tmpl2 *= FCParam.Yaw_PosFeedback;
280
                tmpl2 /= 4096L;
281
                if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1;
282
        }
283
        else  tmpl = tmpl2 = 0;
284
 
285
// Roll
286
        Reading_GyroRoll += tmpl;
287
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L;
288
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
289
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
290
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
291
        {
292
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
293
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
294
        }
295
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
296
        {
297
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
298
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
299
        }
300
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
301
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
302
        if(BoardRelease == 10)
303
        {
304
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
305
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
306
        }
307
        else
308
        {
309
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
310
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
311
        }
911 killagreg 312
// Nick
313
        Reading_GyroNick -= tmpl2;
314
        Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
315
        Reading_IntegralGyroNick2 += Reading_GyroNick;
316
        Reading_IntegralGyroNick  += Reading_GyroNick - AttitudeCorrectionNick;
317
        if(Reading_IntegralGyroNick > TurnOver180Nick)
886 killagreg 318
        {
911 killagreg 319
         Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L);
320
         Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
886 killagreg 321
        }
911 killagreg 322
        if(Reading_IntegralGyroNick < -TurnOver180Nick)
886 killagreg 323
        {
911 killagreg 324
         Reading_IntegralGyroNick =  (TurnOver180Nick - 25000L);
325
         Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
886 killagreg 326
        }
911 killagreg 327
        if(AdValueGyrNick < 15)   Reading_GyroNick = -1000;
328
        if(AdValueGyrNick <  7)   Reading_GyroNick = -2000;
886 killagreg 329
        if(BoardRelease == 10)
330
        {
911 killagreg 331
                if(AdValueGyrNick > 1010) Reading_GyroNick = +1000;
332
                if(AdValueGyrNick > 1017) Reading_GyroNick = +2000;
886 killagreg 333
        }
334
        else
335
        {
911 killagreg 336
                if(AdValueGyrNick > 2020) Reading_GyroNick = +1000;
337
                if(AdValueGyrNick > 2034) Reading_GyroNick = +2000;
886 killagreg 338
        }
339
 
340
// start ADC again to capture measurement values for the next loop
341
    ADC_Enable();
342
 
343
    IntegralYaw    = Reading_IntegralGyroYaw;
911 killagreg 344
    IntegralNick  = Reading_IntegralGyroNick;
886 killagreg 345
    IntegralRoll   = Reading_IntegralGyroRoll;
911 killagreg 346
    IntegralNick2 = Reading_IntegralGyroNick2;
886 killagreg 347
    IntegralRoll2  = Reading_IntegralGyroRoll2;
348
 
911 killagreg 349
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll)
886 killagreg 350
        {
911 killagreg 351
                if(Reading_GyroNick > 200)       Reading_GyroNick += 4 * (Reading_GyroNick - 200);
352
                else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200);
886 killagreg 353
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
354
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
355
        }
1 ingob 356
}
357
 
886 killagreg 358
/************************************************************************/
359
/*  Averaging Measurement Readings  for Calibration                     */
360
/************************************************************************/
361
void CalibMean(void)
362
{
936 killagreg 363
        if(BoardRelease >= 13) SearchGyroOffset();
886 killagreg 364
    // stop ADC to avoid changing values during calculation
365
        ADC_Disable();
395 hbuss 366
 
911 killagreg 367
        Reading_GyroNick = AdValueGyrNick;
886 killagreg 368
        Reading_GyroRoll  = AdValueGyrRoll;
369
        Reading_GyroYaw   = AdValueGyrYaw;
370
 
911 killagreg 371
        Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick;
886 killagreg 372
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
373
        Mean_AccTop   = (int32_t)AdValueAccTop;
374
    // start ADC (enables internal trigger so that the ISR in analog.c
375
    // updates the readings once)
376
    ADC_Enable();
377
 
911 killagreg 378
        TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L;
886 killagreg 379
        TurnOver180Roll =  (int32_t) ParamSet.AngleTurnOverRoll  * 2500L;
1 ingob 380
}
381
 
886 killagreg 382
/************************************************************************/
383
/*  Transmit Motor Data via I2C                                         */
384
/************************************************************************/
1 ingob 385
void SendMotorData(void)
886 killagreg 386
{
936 killagreg 387
    if(!(MKFlags & MKFLAG_MOTOR_RUN))
886 killagreg 388
    {
943 pangu 389
#ifdef HEXAKOPTER
390
        Motor_RearLeft = 0;
391
        Motor_FrontLeft = 0;
392
        Motor_RearRight = 0;
393
        Motor_FrontRight = 0;
394
        Motor_Right = 0;
395
        Motor_Left = 0;
396
        if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0];
397
        if(MotorTest[1]) Motor_RearLeft = Motor_RearRight  = MotorTest[1];
398
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
399
        if(MotorTest[3]) Motor_Right = MotorTest[3];
400
#else
886 killagreg 401
        Motor_Rear = 0;
402
        Motor_Front = 0;
403
        Motor_Right = 0;
404
        Motor_Left = 0;
405
        if(MotorTest[0]) Motor_Front = MotorTest[0];
406
        if(MotorTest[1]) Motor_Rear  = MotorTest[1];
407
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
408
        if(MotorTest[3]) Motor_Right = MotorTest[3];
943 pangu 409
#endif
936 killagreg 410
        MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off
411
    }
943 pangu 412
 
1 ingob 413
    //Start I2C Interrupt Mode
936 killagreg 414
    twi_state = TWI_STATE_MOTOR_TX;
886 killagreg 415
    I2C_Start();
1 ingob 416
}
417
 
418
 
419
 
886 killagreg 420
/************************************************************************/
421
/*  Maps the parameter to poti values                                   */
422
/************************************************************************/
423
void ParameterMapping(void)
1 ingob 424
{
886 killagreg 425
        if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok
426
        // else the last updated values are used
427
        {
428
                 //update poti values by rc-signals
936 killagreg 429
                #define CHK_POTI_MM(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;}
430
                #define CHK_POTI(b,a) { 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;}
431
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight);
432
                CHK_POTI_MM(FCParam.Height_D,ParamSet.Height_D,0,100);
433
                CHK_POTI_MM(FCParam.Height_P,ParamSet.Height_P,0,100);
434
                CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect);
435
                CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect);
436
                CHK_POTI_MM(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
437
                CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I);
438
                CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor);
439
                CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1);
440
                CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2);
441
                CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3);
442
                CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4);
443
                CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5);
444
                CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6);
445
                CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7);
446
                CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8);
447
                CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl);
448
                CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit);
449
                CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback);
450
                CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback);
451
                CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability);
452
                CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255);
453
                CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255);
454
                CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl);
455
                CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain);
456
                CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP);
457
                CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI);
458
                CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD);
459
                CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC);
460
                CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl);
886 killagreg 461
                Ki = (float) FCParam.I_Factor * FACTOR_I;
462
        }
463
}
1 ingob 464
 
465
 
886 killagreg 466
void SetCompassCalState(void)
467
{
468
        static uint8_t stick = 1;
469
 
911 killagreg 470
    // if nick is centered or top set stick to zero
471
        if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0;
472
        // if nick is down trigger to next cal state
473
        if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick)
886 killagreg 474
        {
475
                stick = 1;
476
                CompassCalState++;
477
                if(CompassCalState < 5) Beep(CompassCalState);
478
                else BeepTime = 1000;
479
        }
1 ingob 480
}
481
 
482
 
819 hbuss 483
 
886 killagreg 484
/************************************************************************/
485
/*  MotorControl                                                        */
486
/************************************************************************/
487
void MotorControl(void)
1 ingob 488
{
886 killagreg 489
        int16_t MotorValue, pd_result, h, tmp_int;
943 pangu 490
        int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction;
911 killagreg 491
        static int32_t SumNick = 0, SumRoll = 0;
886 killagreg 492
        static int32_t SetPointYaw = 0;
911 killagreg 493
        static int32_t IntegralErrorNick = 0;
886 killagreg 494
        static int32_t IntegralErrorRoll = 0;
495
        static uint16_t RcLostTimer;
496
        static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
497
        static uint8_t HeightControlActive = 0;
911 killagreg 498
        static int16_t HeightControlGas = 0;
886 killagreg 499
        static int8_t TimerDebugOut = 0;
500
        static uint16_t UpdateCompassCourse = 0;
911 killagreg 501
        static int32_t CorrectionNick, CorrectionRoll;
1 ingob 502
 
886 killagreg 503
        Mean();
504
        GRN_ON;
1 ingob 505
 
886 killagreg 506
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 507
// determine gas value
886 killagreg 508
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 509
        GasMixFraction = StickGas;
510
    if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10;
886 killagreg 511
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
512
// RC-signal is bad
513
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
514
        if(RC_Quality < 120)  // the rc-frame signal is not reveived or noisy
515
        {
516
                if(!PcAccess) // if also no PC-Access via UART
517
                {
518
                        if(BeepModulation == 0xFFFF)
519
                        {
520
                         BeepTime = 15000; // 1.5 seconds
521
                         BeepModulation = 0x0C00;
522
                        }
523
                }
524
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
525
                else // rc lost countdown finished
526
                {
936 killagreg 527
                  MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData()
886 killagreg 528
                }
936 killagreg 529
                RED_ON; // set red led
886 killagreg 530
                if(Model_Is_Flying > 1000)  // wahrscheinlich in der Luft --> langsam absenken
531
                {
911 killagreg 532
                        GasMixFraction = ParamSet.EmergencyGas; // set emergency gas
936 killagreg 533
                        MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing
886 killagreg 534
                        // set neutral rc inputs
911 killagreg 535
                        PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0;
886 killagreg 536
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
537
                        PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0;
911 killagreg 538
                        PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0;
886 killagreg 539
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
540
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
541
                }
936 killagreg 542
                else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData()
886 killagreg 543
        } // eof RC_Quality < 120
544
        else
545
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
546
// RC-signal is good
547
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
548
        if(RC_Quality > 140)
549
        {
936 killagreg 550
                MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing
886 killagreg 551
                // reset emergency timer
911 killagreg 552
                RcLostTimer = ParamSet.EmergencyGasDuration * 50;
936 killagreg 553
                if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 554
                {
555
                        if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
556
                }
557
                if(Model_Is_Flying < 256)
558
                {
911 killagreg 559
                        SumNick = 0;
886 killagreg 560
                        SumRoll = 0;
561
                        StickYaw = 0;
936 killagreg 562
                        if(Model_Is_Flying == 250)
563
                        {
564
                                UpdateCompassCourse = 1;
565
                                Reading_IntegralGyroYaw = 0;
566
                                SetPointYaw = 0;
567
                        }
886 killagreg 568
                }
936 killagreg 569
                else MKFlags |= (MKFLAG_FLY); // set fly flag
604 hbuss 570
 
886 killagreg 571
                if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
572
                if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
573
                if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
574
                if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
575
                //PPM24-Extension
576
                if(Poti5 < PPM_in[9] + 110)  Poti5++; else if(Poti5 >  PPM_in[9] + 110 && Poti5) Poti5--;
577
                if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
578
                if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
579
                if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
580
                //limit poti values
581
                if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
582
                if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
583
                if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
584
                if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
585
                //PPM24-Extension
586
                if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
587
                if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
588
                if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
589
                if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
723 hbuss 590
 
943 pangu 591
 
911 killagreg 592
                // if motors are off and the gas stick is in the upper position
936 killagreg 593
                if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 594
                {
595
                        // and if the yaw stick is in the leftmost position
596
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
597
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
598
// calibrate the neutral readings of all attitude sensors
599
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
600
                        {
911 killagreg 601
                                // gas/yaw joystick is top left
886 killagreg 602
                                //  _________
603
                                // |x        |
604
                                // |         |
605
                                // |         |
606
                                // |         |
607
                                // |         |
608
                                //  ¯¯¯¯¯¯¯¯¯
609
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
610
                                {
611
                                        delay_neutral = 0;
612
                                        GRN_OFF;
613
                                        Model_Is_Flying = 0;
911 killagreg 614
                                        // check roll/nick stick position
615
                                        // if nick stick is top or roll stick is left or right --> change parameter setting
616
                                        // according to roll/nick stick position
617
                                        if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
886 killagreg 618
                                        {
619
                                                 uint8_t setting = 1; // default
911 killagreg 620
                                                 // nick/roll joystick
886 killagreg 621
                                                 //  _________
622
                                                 // |2   3   4|
623
                                                 // |         |
624
                                                 // |1       5|
625
                                                 // |         |
626
                                                 // |         |
627
                                                 //  ¯¯¯¯¯¯¯¯¯
911 killagreg 628
                                                 // roll stick leftmost and nick stick centered --> setting 1
629
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1;
630
                                                 // roll stick leftmost and nick stick topmost --> setting 2
631
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2;
632
                                                 // roll stick centered an nick stick topmost --> setting 3
633
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3;
634
                                                 // roll stick rightmost and nick stick topmost --> setting 4
635
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4;
636
                                                 // roll stick rightmost and nick stick centered --> setting 5
637
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5;
886 killagreg 638
                                                 // update active parameter set in eeprom
639
                                                 SetActiveParamSet(setting);
640
                                                 ParamSet_ReadFromEEProm(GetActiveParamSet());
641
                                                 SetNeutral();
642
                                                 Beep(GetActiveParamSet());
643
                                        }
644
                                        else
645
                                        {
957 pangu 646
                                                if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
886 killagreg 647
                                                {
911 killagreg 648
                                                        // if roll stick is centered and nick stick is down
649
                                                        if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70)
886 killagreg 650
                                                        {
911 killagreg 651
                                                                // nick/roll joystick
886 killagreg 652
                                                                //  _________
653
                                                                // |         |
654
                                                                // |         |
655
                                                                // |         |
656
                                                                // |         |
657
                                                                // |    x    |
658
                                                                //  ¯¯¯¯¯¯¯¯¯
659
                                                                // enable calibration state of compass
660
                                                                CompassCalState = 1;
661
                                                                BeepTime = 1000;
662
                                                        }
911 killagreg 663
                                                        else // nick and roll are centered
886 killagreg 664
                                                        {
665
                                                                ParamSet_ReadFromEEProm(GetActiveParamSet());
666
                                                                SetNeutral();
667
                                                                Beep(GetActiveParamSet());
668
                                                        }
669
                                                }
911 killagreg 670
                                                else // nick and roll are centered
886 killagreg 671
                                                {
672
                                                        ParamSet_ReadFromEEProm(GetActiveParamSet());
673
                                                        SetNeutral();
674
                                                        Beep(GetActiveParamSet());
675
                                                }
676
                                        }
677
                                }
678
                        }
679
                        // and if the yaw stick is in the rightmost position
680
                        // save the ACC neutral setting to eeprom
681
                        else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
682
                        {
683
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
684
                                {
685
                                        delay_neutral = 0;
686
                                        GRN_OFF;
911 killagreg 687
                                        SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid
886 killagreg 688
                                        Model_Is_Flying = 0;
689
                                        SetNeutral();
690
                                        // Save ACC neutral settings to eeprom
911 killagreg 691
                                        SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
886 killagreg 692
                                        SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
693
                                        SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
694
                                        Beep(GetActiveParamSet());
695
                                }
696
                        }
697
                        else delay_neutral = 0;
698
                }
699
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 700
// gas stick is down
886 killagreg 701
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 702
                if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85)
886 killagreg 703
                {
704
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
705
// and yaw stick is rightmost --> start motors
706
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
708
                        {
709
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
710
                                {
943 pangu 711
                                        delay_startmotors = 0; // do not repeat if once executed
886 killagreg 712
                                        Model_Is_Flying = 1;
936 killagreg 713
                                        MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START
886 killagreg 714
                                        SetPointYaw = 0;
715
                                        Reading_IntegralGyroYaw = 0;
911 killagreg 716
                                        Reading_IntegralGyroNick = 0;
886 killagreg 717
                                        Reading_IntegralGyroRoll = 0;
911 killagreg 718
                                        Reading_IntegralGyroNick2 = IntegralNick;
886 killagreg 719
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
911 killagreg 720
                                        SumNick = 0;
886 killagreg 721
                                        SumRoll = 0;
722
                                }
723
                        }
724
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
725
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
726
// and yaw stick is leftmost --> stop motors
727
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
728
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
729
                                {
730
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
731
                                {
943 pangu 732
                                        delay_stopmotors = 0; // do not repeat if once executed
886 killagreg 733
                                        Model_Is_Flying = 0;
936 killagreg 734
                                        MKFlags &= ~(MKFLAG_MOTOR_RUN);
886 killagreg 735
                                }
736
                        }
737
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
738
                }
739
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
740
        } // eof RC_Quality > 150
741
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
742
// new values from RC
743
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
936 killagreg 744
        if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC
886 killagreg 745
        {
746
                int tmp_int;
747
                ParameterMapping(); // remapping params (online poti replacement)
748
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
911 killagreg 749
                StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4;
750
                StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D;
751
                StickNick -= (GPS_Nick);
723 hbuss 752
 
886 killagreg 753
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
754
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
755
                StickRoll -= (GPS_Roll);
595 hbuss 756
 
911 killagreg 757
                // direct mapping of yaw and gas
886 killagreg 758
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
911 killagreg 759
                StickGas  = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers
1 ingob 760
 
886 killagreg 761
                // update gyro control loop factors
762
                Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN);
763
                Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN);
764
 
595 hbuss 765
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 766
// Digital Control via DubWise
595 hbuss 767
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 768
 
936 killagreg 769
                #define KEY_VALUE (FCParam.ExternalControl * 4) // step width
886 killagreg 770
                if(DubWiseKeys[1]) BeepTime = 10;
771
                if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
772
                else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
773
                else tmp_int = 0;
911 killagreg 774
                ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8;
886 killagreg 775
                if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
776
                else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
777
                else tmp_int = 0;
778
                ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
492 hbuss 779
 
886 killagreg 780
                if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
781
                if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
782
                if(DubWiseKeys[0] & 2)  ExternHeightValue++;
783
                if(DubWiseKeys[0] & 16) ExternHeightValue--;
784
 
936 killagreg 785
                StickNick  += (STICK_GAIN * ExternStickNick) / 8;
886 killagreg 786
                StickRoll  += (STICK_GAIN * ExternStickRoll) / 8;
787
                StickYaw   += (STICK_GAIN * ExternStickYaw);
788
 
595 hbuss 789
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 790
//+ Analog control via serial communication
595 hbuss 791
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 792
 
936 killagreg 793
                if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128)
886 killagreg 794
                {
911 killagreg 795
                         StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.Stick_P;
886 killagreg 796
                         StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
797
                         StickYaw += ExternControl.Yaw;
798
                         ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
911 killagreg 799
                         if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
886 killagreg 800
                }
911 killagreg 801
                if(StickGas < 0) StickGas = 0;
723 hbuss 802
 
886 killagreg 803
                // disable I part of gyro control feedback
804
                if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
805
                // avoid negative scaling factors
806
                if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
807
                if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
723 hbuss 808
 
886 killagreg 809
 
911 killagreg 810
                // update max stick positions for nick and roll
886 killagreg 811
 
936 killagreg 812
                if(abs(StickNick / STICK_GAIN) > MaxStickNick)
813
                {
814
                        MaxStickNick = abs(StickNick)/STICK_GAIN;
815
                        if(MaxStickNick > 100) MaxStickNick = 100;
816
                }
911 killagreg 817
                else MaxStickNick--;
936 killagreg 818
                if(abs(StickRoll / STICK_GAIN) > MaxStickRoll)
819
                {
820
                        MaxStickRoll = abs(StickRoll)/STICK_GAIN;
821
                        if(MaxStickRoll > 100) MaxStickRoll = 100;
822
                }
886 killagreg 823
                else MaxStickRoll--;
824
 
825
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 826
// Looping?
886 killagreg 827
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 828
 
886 killagreg 829
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
830
                else
831
                {
832
                        if(Looping_Left) // Hysteresis
833
                        {
834
                                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
835
                        }
836
                }
837
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
838
                else
839
                {
840
                        if(Looping_Right) // Hysteresis
841
                        {
842
                                if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
843
                        }
844
                }
395 hbuss 845
 
911 killagreg 846
                if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
886 killagreg 847
                else
848
                {
849
                        if(Looping_Top)  // Hysteresis
850
                        {
911 killagreg 851
                                if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
886 killagreg 852
                        }
853
                }
911 killagreg 854
                if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
886 killagreg 855
                else
856
                {
857
                        if(Looping_Down) // Hysteresis
858
                        {
911 killagreg 859
                                if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
886 killagreg 860
                        }
861
                }
395 hbuss 862
 
886 killagreg 863
                if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
911 killagreg 864
                if(Looping_Top  || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0;
886 killagreg 865
        } // End of new RC-Values or Emergency Landing
173 holgerb 866
 
395 hbuss 867
 
911 killagreg 868
        if(Looping_Roll || Looping_Nick)
886 killagreg 869
        {
911 killagreg 870
                if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit;
886 killagreg 871
        }
395 hbuss 872
 
886 killagreg 873
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
874
// in case of emergency landing
875
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
876
        // set all inputs to save values
936 killagreg 877
        if(MKFlags & MKFLAG_EMERGENCY_LANDING)
886 killagreg 878
        {
879
                StickYaw = 0;
911 killagreg 880
                StickNick = 0;
886 killagreg 881
                StickRoll = 0;
882
                Gyro_P_Factor  = (float) 100 / (256.0 / STICK_GAIN);
883
                Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN);
884
                Looping_Roll = 0;
911 killagreg 885
                Looping_Nick = 0;
886
                MaxStickNick = 0;
886 killagreg 887
                MaxStickRoll = 0;
888
        }
395 hbuss 889
 
886 killagreg 890
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
891
// Trim Gyro-Integrals to ACC-Signals
892
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
614 hbuss 893
 
886 killagreg 894
        #define BALANCE_NUMBER 256L
895
        // sum for averaging
911 killagreg 896
        MeanIntegralNick  += IntegralNick;
886 killagreg 897
        MeanIntegralRoll  += IntegralRoll;
614 hbuss 898
 
911 killagreg 899
        if(Looping_Nick || Looping_Roll) // if looping in any direction
886 killagreg 900
        {
901
                // reset averaging for acc and gyro integral as well as gyro integral acc correction
902
                MeasurementCounter = 0;
469 hbuss 903
 
911 killagreg 904
                IntegralAccNick = 0;
886 killagreg 905
                IntegralAccRoll = 0;
614 hbuss 906
 
911 killagreg 907
                MeanIntegralNick = 0;
886 killagreg 908
                MeanIntegralRoll = 0;
395 hbuss 909
 
911 killagreg 910
                Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
886 killagreg 911
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
498 hbuss 912
 
911 killagreg 913
                AttitudeCorrectionNick = 0;
886 killagreg 914
                AttitudeCorrectionRoll = 0;
915
        }
395 hbuss 916
 
886 killagreg 917
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 918
        if(!Looping_Nick && !Looping_Roll) // if not lopping in any direction
886 killagreg 919
        {
920
                int32_t tmp_long, tmp_long2;
921
                // determine the deviation of gyro integral from averaged acceleration sensor
911 killagreg 922
                tmp_long   =  (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick);
886 killagreg 923
                tmp_long  /= 16;
924
                tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll);
925
                tmp_long2 /= 16;
395 hbuss 926
 
936 killagreg 927
                if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands
886 killagreg 928
                {
929
                        tmp_long  /= 3;
930
                        tmp_long2 /= 3;
931
                }
932
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active
933
                {
934
                        tmp_long  /= 3;
935
                        tmp_long2 /= 3;
936
                }
395 hbuss 937
 
886 killagreg 938
                #define BALANCE 32
939
                // limit correction effect
940
                if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
941
                if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
942
                if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
943
                if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
944
                // correct current readings
911 killagreg 945
                Reading_IntegralGyroNick -= tmp_long;
886 killagreg 946
                Reading_IntegralGyroRoll -= tmp_long2;
947
        }
948
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
949
        // MeasurementCounter is incremented in the isr of analog.c
950
        if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
951
        {
952
                static int16_t cnt = 0;
953
                static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
911 killagreg 954
                static int32_t MeanIntegralNick_old, MeanIntegralRoll_old;
720 ingob 955
 
886 killagreg 956
                // if not lopping in any direction (this should be alwais the case,
957
                // because the Measurement counter is reset to 0 if looping in any direction is active.)
911 killagreg 958
                if(!Looping_Nick && !Looping_Roll && !FunnelCourse)
886 killagreg 959
                {
960
                        // Calculate mean value of the gyro integrals
911 killagreg 961
                        MeanIntegralNick /= BALANCE_NUMBER;
886 killagreg 962
                        MeanIntegralRoll  /= BALANCE_NUMBER;
720 ingob 963
 
886 killagreg 964
                        // Calculate mean of the acceleration values
911 killagreg 965
                        IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER;
886 killagreg 966
                        IntegralAccRoll  = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER;
720 ingob 967
 
911 killagreg 968
                        // Nick ++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 969
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
911 killagreg 970
                        IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick);
971
                        CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim;
972
                        AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER;
886 killagreg 973
                        // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
974
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
975
                        IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
976
                        CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
977
                        AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
978
 
936 killagreg 979
                        if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
886 killagreg 980
                        {
911 killagreg 981
                                AttitudeCorrectionNick /= 2;
886 killagreg 982
                                AttitudeCorrectionRoll /= 2;
983
                        }
984
 
985
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
986
        // Gyro-Drift ermitteln
987
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 988
                        // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor)
989
                        IntegralErrorNick  = IntegralNick2 - IntegralNick;
990
                        Reading_IntegralGyroNick2 -= IntegralErrorNick;
991
                        // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor)
886 killagreg 992
                        IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
993
                        Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
994
 
995
                        if(YawGyroDrift >  BALANCE_NUMBER/2) AdNeutralYaw++;
996
                        if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--;
997
                        YawGyroDrift = 0;
998
/*
911 killagreg 999
                        DebugOut.Analog[17] = IntegralAccNick / 26;
886 killagreg 1000
                        DebugOut.Analog[18] = IntegralAccRoll / 26;
911 killagreg 1001
                        DebugOut.Analog[19] = IntegralErrorNick;// / 26;
886 killagreg 1002
                        DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
911 killagreg 1003
                        DebugOut.Analog[21] = MeanIntegralNick / 26;
886 killagreg 1004
                        DebugOut.Analog[22] = MeanIntegralRoll / 26;
911 killagreg 1005
                        //DebugOut.Analog[28] = CorrectionNick;
886 killagreg 1006
                        DebugOut.Analog[29] = CorrectionRoll;
1007
                        DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
720 ingob 1008
*/
886 killagreg 1009
 
1010
                        #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
1011
                        #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
1012
                        #define MOVEMENT_LIMIT 20000
911 killagreg 1013
        // Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1014
                        cnt = 1;// + labs(IntegralErrorNick) / 4096;
1015
                        CorrectionNick = 0;
1016
                        if(labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT)
886 killagreg 1017
                        {
911 killagreg 1018
                                if(IntegralErrorNick >  ERROR_LIMIT2)
886 killagreg 1019
                                {
1020
                                        if(last_n_p)
1021
                                        {
911 killagreg 1022
                                                cnt += labs(IntegralErrorNick) / ERROR_LIMIT2;
1023
                                                CorrectionNick = IntegralErrorNick / 8;
1024
                                                if(CorrectionNick > 5000) CorrectionNick = 5000;
1025
                                                AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER;
886 killagreg 1026
                                        }
1027
                                        else last_n_p = 1;
1028
                                }
1029
                                else  last_n_p = 0;
911 killagreg 1030
                                if(IntegralErrorNick < -ERROR_LIMIT2)
886 killagreg 1031
                                {
1032
                                        if(last_n_n)
1033
                                        {
911 killagreg 1034
                                                cnt += labs(IntegralErrorNick) / ERROR_LIMIT2;
1035
                                                CorrectionNick = IntegralErrorNick / 8;
1036
                                                if(CorrectionNick < -5000) CorrectionNick = -5000;
1037
                                                AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER;
886 killagreg 1038
                                        }
1039
                                        else last_n_n = 1;
1040
                                }
1041
                                else  last_n_n = 0;
1042
                        }
1043
                        else
1044
                        {
1045
                                cnt = 0;
936 killagreg 1046
                                BadCompassHeading = 1000;
886 killagreg 1047
                        }
1048
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
1049
                        // correct Gyro Offsets
911 killagreg 1050
                        if(IntegralErrorNick >  ERROR_LIMIT)   AdNeutralNick += cnt;
1051
                        if(IntegralErrorNick < -ERROR_LIMIT)   AdNeutralNick -= cnt;
886 killagreg 1052
 
1053
        // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1054
                        cnt = 1;// + labs(IntegralErrorNick) / 4096;
886 killagreg 1055
                        CorrectionRoll = 0;
1056
                        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
1057
                        {
1058
                                if(IntegralErrorRoll >  ERROR_LIMIT2)
1059
                                {
1060
                                        if(last_r_p)
1061
                                        {
1062
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
1063
                                                CorrectionRoll = IntegralErrorRoll / 8;
1064
                                                if(CorrectionRoll > 5000) CorrectionRoll = 5000;
1065
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
1066
                                        }
1067
                                        else last_r_p = 1;
1068
                                }
1069
                                else  last_r_p = 0;
1070
                                if(IntegralErrorRoll < -ERROR_LIMIT2)
1071
                                {
1072
                                        if(last_r_n)
1073
                                        {
1074
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
1075
                                                CorrectionRoll = IntegralErrorRoll / 8;
1076
                                                if(CorrectionRoll < -5000) CorrectionRoll = -5000;
1077
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
1078
                                        }
1079
                                        else last_r_n = 1;
1080
                                }
1081
                                else  last_r_n = 0;
1082
                        }
1083
                        else
1084
                        {
1085
                                cnt = 0;
936 killagreg 1086
                                BadCompassHeading = 1000;
886 killagreg 1087
                        }
1088
                        // correct Gyro Offsets
1089
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
1090
                        if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
1091
                        if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
720 ingob 1092
/*
886 killagreg 1093
                        DebugOut.Analog[27] = CorrectionRoll;
911 killagreg 1094
                        DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
886 killagreg 1095
                        DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
720 ingob 1096
*/
886 killagreg 1097
                }
1098
                else // looping is active
1099
                {
1100
                        AttitudeCorrectionRoll  = 0;
911 killagreg 1101
                        AttitudeCorrectionNick = 0;
886 killagreg 1102
                        FunnelCourse = 0;
1103
                }
395 hbuss 1104
 
886 killagreg 1105
                // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction
1106
                if(!Gyro_I_Factor)
1107
                {
1108
                        AttitudeCorrectionRoll  = 0;
911 killagreg 1109
                        AttitudeCorrectionNick = 0;
886 killagreg 1110
                }
1111
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1112
                MeanIntegralNick_old = MeanIntegralNick;
886 killagreg 1113
                MeanIntegralRoll_old  = MeanIntegralRoll;
1114
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1115
                // reset variables used for averaging
911 killagreg 1116
                IntegralAccNick = 0;
886 killagreg 1117
                IntegralAccRoll = 0;
911 killagreg 1118
                MeanIntegralNick = 0;
886 killagreg 1119
                MeanIntegralRoll = 0;
1120
                MeasurementCounter = 0;
1121
        } // end of averaging
401 hbuss 1122
 
492 hbuss 1123
 
886 killagreg 1124
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1125
//  Yawing
1126
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1127
        if(abs(StickYaw) > 15 ) // yaw stick is activated
1128
        {
936 killagreg 1129
                BadCompassHeading = 1000;
886 killagreg 1130
                if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX))
1131
                {
1132
                        UpdateCompassCourse = 1;
1133
                }
1134
        }
1135
        // exponential stick sensitivity in yawring rate
1136
        tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
1137
        tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
1138
        SetPointYaw = tmp_int;
1139
        // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw)
1140
        Reading_IntegralGyroYaw -= tmp_int;
1141
        // limit the effect
1142
        if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
1143
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
614 hbuss 1144
 
886 killagreg 1145
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1146
//  Compass
1147
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1148
    // compass code is used if Compass option is selected
957 pangu 1149
        if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
886 killagreg 1150
        {
1151
                int16_t w, v, r,correction, error;
395 hbuss 1152
 
936 killagreg 1153
                if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 1154
                {
1155
                        SetCompassCalState();
1156
                        #ifdef USE_KILLAGREG
1157
                        MM3_Calibrate();
1158
                        #endif
1159
                }
1160
                else
1161
                {
1162
                        #ifdef USE_KILLAGREG
1163
                        static uint8_t updCompass = 0;
1164
                        if (!updCompass--)
1165
                        {
1166
                                updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
1167
                                MM3_Heading();
1168
                        }
1169
                        #endif
819 hbuss 1170
 
886 killagreg 1171
                        // get maximum attitude angle
936 killagreg 1172
                        w = abs(IntegralNick / 512);
1173
                        v = abs(IntegralRoll / 512);
886 killagreg 1174
                        if(v > w) w = v;
936 killagreg 1175
                        correction = w / 8 + 1;
886 killagreg 1176
                        // calculate the deviation of the yaw gyro heading and the compass heading
1177
                        if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
1178
                        else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180;
936 killagreg 1179
 
1180
                        if(!BadCompassHeading && w < 25)
1181
                        {
1182
                                YawGyroDrift += error;
1183
                                if(UpdateCompassCourse)
1184
                                {
1185
                                        BeepTime = 200;
1186
                                        CompassCourse = (YawGyroHeading / YAW_GYRO_DEG_FACTOR);
1187
                                        UpdateCompassCourse = 0;
1188
                                }
1189
                        }
886 killagreg 1190
                        YawGyroHeading += (error * 8) / correction;
936 killagreg 1191
                        w = (w * FCParam.CompassYawEffect) / 32;
886 killagreg 1192
                        w = FCParam.CompassYawEffect - w;
936 killagreg 1193
                        if(w >= 0)
886 killagreg 1194
                        {
936 killagreg 1195
                                if(!BadCompassHeading)
1196
                                {
911 killagreg 1197
                                        v = 64 + (MaxStickNick + MaxStickRoll) / 8;
886 killagreg 1198
                                        // calc course deviation
1199
                                        r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180;
1200
                                        v = (r * w) / v; // align to compass course
1201
                                        // limit yaw rate
1202
                                        w = 3 * FCParam.CompassYawEffect;
1203
                                        if (v > w) v = w;
1204
                                        else if (v < -w) v = -w;
1205
                                        Reading_IntegralGyroYaw += v;
1206
                                }
936 killagreg 1207
                                else
1208
                                { // wait a while
1209
                                        BadCompassHeading--;
1210
                                }
886 killagreg 1211
                        }
1212
                        else
1213
                        {  // ignore compass at extreme attitudes for a while
936 killagreg 1214
                                BadCompassHeading = 500;
886 killagreg 1215
                        }
1216
                }
1217
        }
1 ingob 1218
 
957 pangu 1219
        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
886 killagreg 1220
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1221
//  GPS
1222
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1223
        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
1224
        {
936 killagreg 1225
                GPS_Main();
1226
                MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START);
886 killagreg 1227
        }
1228
        else
1229
        {
911 killagreg 1230
                GPS_Nick = 0;
886 killagreg 1231
                GPS_Roll = 0;
1232
        }
1233
        #endif
1234
 
1235
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1236
//  Debugwerte zuordnen
886 killagreg 1237
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1238
        if(!TimerDebugOut--)
1239
        {
1240
                TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
911 killagreg 1241
                DebugOut.Analog[0]  = IntegralNick / ParamSet.GyroAccFactor;
886 killagreg 1242
                DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFactor;
911 killagreg 1243
                DebugOut.Analog[2]  = Mean_AccNick;
886 killagreg 1244
                DebugOut.Analog[3]  = Mean_AccRoll;
1245
                DebugOut.Analog[4]  = Reading_GyroYaw;
1246
                DebugOut.Analog[5]  = ReadingHeight;
1247
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
943 pangu 1248
//              DebugOut.Analog[8]  = CompassHeading;
1249
                DebugOut.Analog[8]  = RC_Quality;
886 killagreg 1250
                DebugOut.Analog[9]  = UBat;
943 pangu 1251
 
1252
#ifdef HEXAKOPTER
1253
                DebugOut.Analog[10] = Motor_FrontLeft;
1254
                DebugOut.Analog[11] = Motor_FrontRight;
1255
                DebugOut.Analog[12] = Motor_RearLeft;
1256
                DebugOut.Analog[13] = Motor_RearRight;
1257
                DebugOut.Analog[14] = Motor_Left;
1258
                DebugOut.Analog[15] = Motor_Right;
1259
#else
886 killagreg 1260
                DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
805 hbuss 1261
 
943 pangu 1262
                DebugOut.Analog[12] = Motor_Front;
1263
                DebugOut.Analog[13] = Motor_Rear;
1264
                DebugOut.Analog[14] = Motor_Left;
1265
                DebugOut.Analog[15] = Motor_Right;
1266
#endif
1267
 
1268
                DebugOut.Analog[16] = Mean_AccTop;
1269
 
886 killagreg 1270
                DebugOut.Analog[20] = ServoValue;
173 holgerb 1271
 
744 hbuss 1272
 
720 ingob 1273
 
911 killagreg 1274
                DebugOut.Analog[30] = GPS_Nick;
886 killagreg 1275
                DebugOut.Analog[31] = GPS_Roll;
805 hbuss 1276
 
886 killagreg 1277
                /*    DebugOut.Analog[16] = motor_rx[0];
1278
                DebugOut.Analog[17] = motor_rx[1];
1279
                DebugOut.Analog[18] = motor_rx[2];
1280
                DebugOut.Analog[19] = motor_rx[3];
1281
                DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1282
                DebugOut.Analog[20] /= 14;
1283
                DebugOut.Analog[21] = motor_rx[4];
1284
                DebugOut.Analog[22] = motor_rx[5];
1285
                DebugOut.Analog[23] = motor_rx[6];
1286
                DebugOut.Analog[24] = motor_rx[7];
1287
                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
805 hbuss 1288
 
911 killagreg 1289
                DebugOut.Analog[9]  = Reading_GyroNick;
886 killagreg 1290
                DebugOut.Analog[9]  = SetPointHeight;
1291
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
1 ingob 1292
 
886 killagreg 1293
                DebugOut.Analog[10] = FCParam.Gyro_I;
1294
                DebugOut.Analog[10] = ParamSet.Gyro_I;
1295
                DebugOut.Analog[9]  = CompassOffCourse;
911 killagreg 1296
                DebugOut.Analog[10] = GasMixFraction;
886 killagreg 1297
                DebugOut.Analog[3]  = HeightD * 32;
911 killagreg 1298
                DebugOut.Analog[4]  = HeightControlGas;
886 killagreg 1299
                */
1300
        }
604 hbuss 1301
 
886 killagreg 1302
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1303
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
1304
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1305
 
911 killagreg 1306
        if(Looping_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor;
1307
        else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * Gyro_P_Factor;
886 killagreg 1308
        if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
1309
        else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
1310
        Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
854 hbuss 1311
 
911 killagreg 1312
        DebugOut.Analog[21] = Reading_GyroNick;
886 killagreg 1313
        DebugOut.Analog[22] = Reading_GyroRoll;
1 ingob 1314
 
886 killagreg 1315
        // limit control feedback
1316
        #define MAX_SENSOR  (4096 * STICK_GAIN)
911 killagreg 1317
        if(Reading_GyroNick >  MAX_SENSOR) Reading_GyroNick =  MAX_SENSOR;
1318
        if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -MAX_SENSOR;
1319
        if(Reading_GyroRoll >  MAX_SENSOR) Reading_GyroRoll =  MAX_SENSOR;
1320
        if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR;
1321
        if(Reading_GyroYaw  >  MAX_SENSOR) Reading_GyroYaw  =  MAX_SENSOR;
1322
        if(Reading_GyroYaw  < -MAX_SENSOR) Reading_GyroYaw  = -MAX_SENSOR;
855 hbuss 1323
 
886 killagreg 1324
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1325
// Height Control
911 killagreg 1326
// The height control algorithm reduces the gas but does not increase the gas.
886 killagreg 1327
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1328
 
911 killagreg 1329
        GasMixFraction *= STICK_GAIN;
513 hbuss 1330
 
886 killagreg 1331
        // If height control is activated and no emergency landing is active
936 killagreg 1332
        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) )
886 killagreg 1333
        {
1334
                int tmp_int;
1335
                // if height control is activated by an rc channel
1336
                if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
1337
                {       // check if parameter is less than activation threshold
1338
                        if(FCParam.MaxHeight < 50)
1339
                        {
1340
                                SetPointHeight = ReadingHeight - 20;  // update SetPoint with current reading
1341
                                HeightControlActive = 0; // disable height control
1342
                        }
1343
                        else HeightControlActive = 1; // enable height control
1344
                }
1345
                else // no switchable height control
1346
                {
1347
                        SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
1348
                        HeightControlActive = 1;
1349
                }
1350
                // get current height
1351
                h = ReadingHeight;
911 killagreg 1352
                // if current height is above the setpoint reduce gas
886 killagreg 1353
                if((h > SetPointHeight) && HeightControlActive)
1354
                {
911 killagreg 1355
                        // GasMixFraction - HightDeviation * P  - HeightChange * D - ACCTop * DACC
886 killagreg 1356
                        // height difference -> P control part
1357
                        h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN);
911 killagreg 1358
                        h = GasMixFraction - h; // reduce gas
886 killagreg 1359
                        // height gradient --> D control part
1360
                        //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN);  // D control part
1361
                        h -= (HeightD) / (8 / STICK_GAIN);  // D control part
1362
                        // acceleration sensor effect
1363
                        tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN);
1364
                        if(tmp_int > 70 * STICK_GAIN)        tmp_int =   70 * STICK_GAIN;
1365
                        else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN);
1366
                        h -= tmp_int;
911 killagreg 1367
                        // update height control gas
1368
                        HeightControlGas = (HeightControlGas*15 + h) / 16;
1369
                        // limit gas reduction
1370
                        if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN)
886 killagreg 1371
                        {
911 killagreg 1372
                                if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN;
1373
                                // allows landing also if gas stick is reduced below min gas on height control
1374
                                if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction;
886 killagreg 1375
                        }
911 killagreg 1376
                        // limit gas to stick setting
1377
                        if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction;
1378
                        GasMixFraction = HeightControlGas;
886 killagreg 1379
                }
1380
        }
911 killagreg 1381
        // limit gas to parameter setting
1382
        if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN;
886 killagreg 1383
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1384
// + Mixer and PI-Controller
1385
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1386
        DebugOut.Analog[7] = GasMixFraction;
886 killagreg 1387
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1388
// Yaw-Fraction
1389
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1390
    YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN;     // yaw controller
911 killagreg 1391
        #define MIN_YAWGAS (40 * STICK_GAIN)  // yaw also below this gas value
886 killagreg 1392
        // limit YawMixFraction
911 killagreg 1393
        if(GasMixFraction > MIN_YAWGAS)
886 killagreg 1394
        {
911 killagreg 1395
                if(YawMixFraction >  (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2;
1396
                if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2);
886 killagreg 1397
        }
1398
        else
1399
        {
911 killagreg 1400
                if(YawMixFraction >  (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2;
1401
                if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2);
886 killagreg 1402
        }
911 killagreg 1403
        tmp_int = ParamSet.Gas_Max * STICK_GAIN;
1404
    if(YawMixFraction >  ((tmp_int - GasMixFraction))) YawMixFraction =  ((tmp_int - GasMixFraction));
1405
    if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction));
173 holgerb 1406
 
886 killagreg 1407
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1408
// Nick-Axis
886 killagreg 1409
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1410
    DiffNick = Reading_GyroNick - StickNick;    // get difference
1411
    if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control
1412
    else SumNick += DiffNick; // I-part for head holding
1413
    if(SumNick >  (STICK_GAIN * 16000L)) SumNick =  (STICK_GAIN * 16000L);
1414
    if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L);
1415
    pd_result = DiffNick + Ki * SumNick; // PI-controller for nick
886 killagreg 1416
 
911 killagreg 1417
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64;
886 killagreg 1418
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1419
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1420
 
943 pangu 1421
    NickMixFraction = pd_result;
886 killagreg 1422
 
1423
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1424
// Roll-Axis
1425
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1426
        DiffRoll = Reading_GyroRoll - StickRoll;        // get difference
1427
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control
1428
    else SumRoll += DiffRoll;  // I-part for head holding
901 killagreg 1429
    if(SumRoll >  (STICK_GAIN * 16000L)) SumRoll =  (STICK_GAIN * 16000L);
1430
    if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L);
886 killagreg 1431
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
911 killagreg 1432
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64;
886 killagreg 1433
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1434
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1435
 
943 pangu 1436
    RollMixFraction = pd_result;
1437
 
1438
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1439
// Calculate Motor Mixes
1440
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1441
 
1442
#ifdef HEXAKOPTER
958 pangu 1443
 
1444
        NickMixFraction = (NickMixFraction*4) / 7;
1445
        RollMixFraction /= 3;
1446
 
943 pangu 1447
        // Motor FrontLeft
1448
    MotorValue =        GasMixFraction
1449
                                        + NickMixFraction
1450
                                        + RollMixFraction/2
1451
                                        - YawMixFraction;         // Mixer
1452
    MotorValue /= STICK_GAIN;
1453
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1454
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1455
        Motor_FrontLeft = MotorValue;
1456
 
1457
        // Motor FrontRight
1458
    MotorValue =        GasMixFraction
1459
                                        + NickMixFraction
1460
                                        - RollMixFraction/2
1461
                                        + YawMixFraction;         // Mixer
1462
    MotorValue /= STICK_GAIN;
1463
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1464
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1465
        Motor_FrontRight = MotorValue;
1466
 
1467
        // Motor RearLeft
1468
        MotorValue =    GasMixFraction
1469
                                        - NickMixFraction
1470
                                        + RollMixFraction/2
1471
                                        - YawMixFraction;     // Mixer
1472
    MotorValue /= STICK_GAIN;
1473
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1474
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1475
        Motor_RearLeft = MotorValue;
1476
 
1477
        // Motor RearRight
1478
        MotorValue =    GasMixFraction
1479
                                        - NickMixFraction
1480
                                        - RollMixFraction/2
1481
                                        + YawMixFraction;     // Mixer
1482
    MotorValue /= STICK_GAIN;
1483
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1484
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1485
        Motor_RearRight= MotorValue;
1486
 
886 killagreg 1487
    // Motor Left
943 pangu 1488
    MotorValue =        GasMixFraction
1489
                                        + RollMixFraction
1490
                                        + YawMixFraction;  // Mixer
886 killagreg 1491
    MotorValue /= STICK_GAIN;
943 pangu 1492
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1493
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
886 killagreg 1494
    Motor_Left = MotorValue;
1495
 
943 pangu 1496
        // Motor Right
1497
        MotorValue =    GasMixFraction
1498
                                        - RollMixFraction
1499
                                        - YawMixFraction;  // Mixer
1500
    MotorValue /= STICK_GAIN;
1501
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1502
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1503
    Motor_Right = MotorValue;
1504
 
1505
#else
1506
 
1507
        // Motor Front
1508
    MotorValue = GasMixFraction + NickMixFraction + YawMixFraction;       // Mixer
1509
    MotorValue /= STICK_GAIN;
1510
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1511
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1512
        Motor_Front = MotorValue;
1513
 
1514
        // Motor Rear
1515
        MotorValue = GasMixFraction - NickMixFraction + YawMixFraction;     // Mixer
886 killagreg 1516
        MotorValue /= STICK_GAIN;
943 pangu 1517
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1518
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1519
        Motor_Rear = MotorValue;
1520
 
1521
 
1522
    // Motor Left
1523
    MotorValue = GasMixFraction + RollMixFraction - YawMixFraction;  // Mixer
1524
    MotorValue /= STICK_GAIN;
1525
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1526
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
1527
    Motor_Left = MotorValue;
1528
 
1529
 
1530
        // Motor Right
1531
        MotorValue = GasMixFraction - RollMixFraction - YawMixFraction;  // Mixer
1532
        MotorValue /= STICK_GAIN;
1533
        if(MotorValue > ParamSet.Gas_Max)           MotorValue = ParamSet.Gas_Max;
1534
        else if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
886 killagreg 1535
    Motor_Right = MotorValue;
943 pangu 1536
#endif
1 ingob 1537
}
1538