Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

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

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

// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist.

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

// + bzgl. der Nutzungsbedingungen aufzunehmen.

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

// + Verkauf von Luftbildaufnahmen, usw.

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

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

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

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

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

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

// + eindeutig als Ursprung verlinkt und genannt werden

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

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

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

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

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

// + mit unserer Zustimmung zulässig

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

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

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

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

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

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

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

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

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

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

// +     with our written permission

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

// +     clearly linked as origin

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

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

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

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

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

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

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

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

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

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

// +  POSSIBILITY OF SUCH DAMAGE.

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

#include <stdlib.h>

#include "controlMixer.h"

#include "rc.h"

#include "heightControl.h"

#include "attitudeControl.h"

#include "externalControl.h"

#include "configuration.h"

#include "attitude.h"

#include "commands.h"

#include "output.h"

// uint16_t maxControl[2] = { 0, 0 };

uint16_t controlActivity = 0;

int16_t controls[4] = { 0, 0, 0, 0 };

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

uint8_t lastCommand = COMMAND_NONE;

uint8_t lastArgument;

uint8_t isCommandRepeated = 0;

uint8_t controlMixer_didReceiveSignal = 0;

/*

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

 * (read: Custom MK RC project)

 */

uint8_t controlMixer_getArgument(void) {

  return lastArgument;

}

/*

 * This could be expanded to take calibrate / start / stop commands from ohter sources

 * than the R/C (read: Custom MK R/C project)

 */

uint8_t controlMixer_getCommand(void) {

  return lastCommand;

}

uint8_t controlMixer_isCommandRepeated(void) {

  return isCommandRepeated;

}

void controlMixer_setNeutral() {

  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {

    variables[i] = 0;

  }

  EC_setNeutral();

  HC_setGround();

}

/*

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

 * No slew rate limitation.

 */

void controlMixer_initVariables(void) {

  uint8_t i;

  for (i=0; i < VARIABLE_COUNT; i++) {

    variables[i] = RC_getVariable(i);

  }

}

/*

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

 * TODO: It assumes R/C as source. Not necessarily true.

 */

void controlMixer_updateVariables(void) {

  uint8_t i;

  int16_t targetvalue;

  for (i=0; i < VARIABLE_COUNT; i++) {

    targetvalue = RC_getVariable(i);

    if (targetvalue < 0)

      targetvalue = 0;

    if (variables[i] < targetvalue && variables[i] < 255)

      variables[i]++;

    else if (variables[i] > 0 && variables[i] > targetvalue)

      variables[i]--;

  }

}

uint8_t controlMixer_getSignalQuality(void) {

  uint8_t rcQ = RC_getSignalQuality();

  uint8_t ecQ = EC_getSignalQuality();

  //if (rcQ < SIGNAL_GOOD) debugOut.digital[0] |= DEBUG_SIGNAL; else debugOut.digital[0] &= ~DEBUG_SIGNAL;

  //if (ecQ < SIGNAL_GOOD) debugOut.digital[1] |= DEBUG_SIGNAL; else debugOut.digital[1] &= ~DEBUG_SIGNAL;

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

  return rcQ > ecQ ? rcQ : ecQ;

}

void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {

  int16_t tmp = controls[index];

  controls[index] = newValue;

  tmp -= newValue;

  tmp /= 2;

  tmp = tmp * tmp;

  // tmp += (newValue >= 0) ? newValue : -newValue;

  if (controlActivity + (uint16_t)tmp >= controlActivity)

    controlActivity += tmp;

  else controlActivity = 0xffff;

}

#define CADAMPING 10

void dampenControlActivity(void) {

  uint32_t tmp = controlActivity;

  tmp *= ((1<<CADAMPING)-1);

  tmp >>= CADAMPING;

  controlActivity = tmp;

}

/*

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

 */

void controlMixer_update(void) {

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

  // TODO: If no signal --> zero.

  int16_t tempThrottle;

  // takes almost no time...

  RC_update();

  // takes almost no time...

  EC_update();

  // takes about 80 usec.

  HC_update();

  int16_t* RC_PRTY = RC_getPRTY();

  int16_t* EC_PRTY = EC_getPRTY();

  updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]);

  updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]);

  updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]);

  dampenControlActivity();

  //debugOut.analog[14] = controlActivity/10;

  tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]);

  controls[CONTROL_THROTTLE] = AC_getThrottle(tempThrottle);

  // controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];

  if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {

    controlMixer_updateVariables();

    configuration_applyVariablesToParams();

    controlMixer_didReceiveSignal = 1;

  } else { // Signal is not OK

    // Could handle switch to emergency flight here.

    // throttle is handled elsewhere.

  }

  // part1a end.

  /* This is not really necessary with the dead-band feature on all sticks (see rc.c)

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

     if (controlYaw > 2) controlYaw-= 2;

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

     else controlYaw = 0;

     }

  */

  /*

   * Record maxima

   for (axis = PITCH; axis <= ROLL; axis++) {

   if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) {

   maxControl[axis] = abs(control[axis]) / CONTROL_SCALING;

   if (maxControl[axis] > 100)

   maxControl[axis] = 100;

   } else if (maxControl[axis])

   maxControl[axis]--;

   }

  */

  uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()

    : COMMAND_NONE;

  uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()

    : COMMAND_NONE;

  if (rcCommand != COMMAND_NONE) {

    isCommandRepeated = (lastCommand == rcCommand);

    lastCommand = rcCommand;

    lastArgument = RC_getArgument();

  } else if (ecCommand != COMMAND_NONE) {

    isCommandRepeated = (lastCommand == ecCommand);

    lastCommand = ecCommand;

    lastArgument = EC_getArgument();

  } else {

    // Both sources have no command, or one or both are out.

    // Just set to false. There is no reason to check if the none-command was repeated anyway.

    isCommandRepeated = 0;

    lastCommand = COMMAND_NONE;

  }

  if (rcCommand != COMMAND_NONE) debugOut.digital[0] |= DEBUG_SIGNAL; else debugOut.digital[0] &= ~DEBUG_SIGNAL;

  if (isCommandRepeated) debugOut.digital[1] |= DEBUG_SIGNAL; else debugOut.digital[1] &= ~DEBUG_SIGNAL;

 }

// TODO: Integrate into command system.

uint8_t controlMixer_testCompassCalState(void) {

  return RC_testCompassCalState();

}