Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

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

#include <stdlib.h>

#include <avr/io.h>

#include "eeprom.h"

#include "flight.h"

// Only for debug. Remove.

//#include "analog.h"

//#include "rc.h"

// Necessary for external control and motor test

#include "uart0.h"

// for scope debugging

// #include "rc.h"

#include "twimaster.h"

#include "attitude.h"

#include "controlMixer.h"

#include "commands.h"

#ifdef USE_MK3MAG

#include "gps.h"

#endif

#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}

/*

 * These are no longer maintained, just left at 0. The original implementation just summed the acc.

 * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey???

 */

// int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0;

uint8_t gyroPFactor, gyroIFactor;       // the PD factors for the attitude control

uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control

// Some integral weight constant...

uint16_t Ki = 10300 / 33;

uint8_t RequiredMotors = 0;

// No support for altitude control right now.

// int16_t SetPointHeight = 0;

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

/*  Filter for motor value smoothing (necessary???)                     */

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

int16_t motorFilter(int16_t newvalue, int16_t oldvalue) {

  switch(dynamicParams.UserParams[5]) {

  case 0:

    return newvalue;

  case 1:

    return (oldvalue + newvalue) / 2;  

  case 2:

    if(newvalue > oldvalue)

      return (1 * (int16_t)oldvalue + newvalue) / 2;  //mean of old and new

    else       

      return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old

  case 3:

    if(newvalue < oldvalue)

      return (1 * (int16_t)oldvalue + newvalue) / 2;  //mean of old and new

    else       

      return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old

  default: return newvalue;

  }

}

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

/*  Neutral Readings                                                    */

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

void flight_setNeutral() {

  MKFlags |= MKFLAG_CALIBRATE;

  // not really used here any more.

  dynamicParams.KalmanK = -1;

  dynamicParams.KalmanMaxDrift = 0;

  dynamicParams.KalmanMaxFusion = 32;

  controlMixer_initVariables();

}

void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) {

  Ki = 10300 / _Ki;

  gyroPFactor = _gyroPFactor;

  gyroIFactor = _gyroIFactor;

  yawPFactor = _yawPFactor;

  yawIFactor = _yawIFactor;

}

void setNormalFlightParameters(void) {

  setFlightParameters(dynamicParams.IFactor + 1,

                      dynamicParams.GyroP + 10,

                      staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI,

                      dynamicParams.GyroP + 10,

                      dynamicParams.UserParams[6]

                      );

}

void setStableFlightParameters(void) {

  setFlightParameters(33, 90, 120, 90, 120);

}

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

/*  Main Flight Control                                                 */

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

void flight_control(void) {

  int16_t tmp_int;

    // Mixer Fractions that are combined for Motor Control

  int16_t yawTerm, throttleTerm, term[2];

  // PID controller variables

  int16_t PDPart[2], PDPartYaw, PPart[2];

  static int32_t IPart[2] = {0,0};

  //  static int32_t yawControlRate = 0;

  // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway.

  // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0;

  // static int32_t CorrectionPitch, CorrectionRoll;

  static uint16_t emergencyFlightTime;

  static int8_t debugDataTimer = 1;

  // High resolution motor values for smoothing of PID motor outputs

  static int16_t motorFilters[MAX_MOTORS];

  uint8_t i, axis;

  // Fire the main flight attitude calculation, including integration of angles.

  calculateFlightAttitude();

  /*

   * TODO: update should: Set the stick variables if good signal, set them to zero if bad.

   * Set variables also.

   */

  // start part 1: 750-800 usec.

  // start part 1a: 750-800 usec.

  // start part1b: 700 usec

  // start part1c: 700 usec!!!!!!!!! WAY too slow.

  controlMixer_update();

  // end part1c

  throttleTerm = controlThrottle;

  // This check removed. Is done on a per-motor basis, after output matrix multiplication.

  // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10;

  // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20);

  // end part1b: 700 usec.

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

  /* RC-signal is bad                                                     */

  /* This part could be abstracted, as having yet another control input   */

  /* to the control mixer: An emergency autopilot control.                */

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

  if(controlMixer_getSignalQuality() <= SIGNAL_BAD) {           // the rc-frame signal is not reveived or noisy

    RED_ON;

    beepRCAlarm();

    if(emergencyFlightTime) {

      // continue emergency flight

      emergencyFlightTime--;

      if(isFlying > 256) {                    

        // We're probably still flying. Descend slowly.

        throttleTerm = staticParams.EmergencyGas;  // Set emergency throttle

        MKFlags |= (MKFLAG_EMERGENCY_LANDING);     // Set flag for emergency landing

        setStableFlightParameters();

      } else {

        MKFlags &= ~(MKFLAG_MOTOR_RUN);            // Probably not flying, and bad R/C signal. Kill motors.

      }

    } else {

      // end emergency flight (just cut the motors???)

      MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING);

    }

  } else {

    // signal is acceptable

    if(controlMixer_getSignalQuality() > SIGNAL_BAD) {

      // Reset emergency landing control variables.

      MKFlags &= ~(MKFLAG_EMERGENCY_LANDING);  // clear flag for emergency landing

      // The time is in whole seconds.

      emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488;

    }

    // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying.

    if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) {

      // increment flight-time counter until overflow.

      if(isFlying != 0xFFFF) isFlying++;

    } else

      /*

       * When standing on the ground, do not apply I controls and zero the yaw stick.

       * Probably to avoid integration effects that will cause the copter to spin

       * or flip when taking off.

       */

      if(isFlying < 256) {

        IPart[PITCH] = IPart[ROLL] = 0;

        // TODO: Don't stomp on other modules' variables!!!

        // controlYaw = 0;

        PDPartYaw = 0; // instead.

        if(isFlying == 250) {

          // HC_setGround();

          updateCompassCourse = 1;

          yawAngleDiff = 0;

        }

      } else {

            // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? 

            // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe.

            MKFlags |= (MKFLAG_FLY);

      }

        commands_handleCommands();

    // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) {

    setNormalFlightParameters();

    // }

  } // end else (not bad signal case)

  // end part1a: 750-800 usec.

  /*

   * Looping the H&I way basically is just a matter of turning off attitude angle measurement

   * by integration (because 300 deg/s gyros are too slow) and turning down the throttle.

   * This is the throttle part.

   */

  if(looping) {

    if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit;

  }

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

  /*  Yawing                                                              */

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

  if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated

    badCompassHeading = 1000;

    if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) {

      updateCompassCourse = 1;

    }

  }

  //  yawControlRate = controlYaw;

  // Trim drift of yawAngleDiff with controlYaw.

  // TODO: We want NO feedback of control related stuff to the attitude related stuff.

  // This seems to be used as: Difference desired <--> real heading.

  yawAngleDiff -= controlYaw;

  // limit the effect

  CHECK_MIN_MAX(yawAngleDiff, -50000, 50000);

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

  /* Compass is currently not supported.                                  */

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

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

    updateCompass();

  }

#if defined (USE_MK3MAG)

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

  /* GPS is currently not supported.                                      */

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

  if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) {

    GPS_Main();

    MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START);

  }

  else {

    // GPSStickPitch = 0;

    // GPSStickRoll = 0;

  }

#endif

  // end part 1: 750-800 usec.

  // start part 3: 350 - 400 usec.

#define SENSOR_LIMIT  (4096 * 4)

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

    /* Calculate control feedback from angle (gyro integral)                */

    /* and angular velocity (gyro signal)                                   */

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

    // The P-part is the P of the PID controller. That's the angle integrals (not rates).

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

    if(looping & ((1<<4)<<axis)) {

      PPart[axis] = 0;

    } else { // TODO: Where do the 44000 come from???

      PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral

    }

    /*

     * Now blend in the D-part - proportional to the Differential of the integral = the rate.

     * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING

     * where pfactor is in [0..1].

     */

    PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING))

      + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16;

    CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT);

  }

  PDPartYaw =

    (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING)

  + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING));

  // limit control feedback

  CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT);

  /*

   * Compose throttle term.

   * If a Bl-Ctrl is missing, prevent takeoff.

   */

  if(missingMotor) {

    // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway???

    if(isFlying > 1 && isFlying < 50 && throttleTerm > 0)

      isFlying = 1; // keep within lift off condition

    throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of

  }

  // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already?

  throttleTerm *= CONTROL_SCALING;

  /*

   * Compose yaw term.

   * The yaw term is limited: Absolute value is max. = the throttle term / 2.

   * However, at low throttle the yaw term is limited to a fixed value,

   * and at high throttle it is limited by the throttle reserve (the difference

   * between current throttle and maximum throttle).

   */

#define MIN_YAWGAS (40 * CONTROL_SCALING)  // yaw also below this gas value

  yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING;

  // Limit yawTerm

  if(throttleTerm > MIN_YAWGAS) {

    CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2));

  } else {

    CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2));

  }

  tmp_int = staticParams.MaxThrottle * CONTROL_SCALING;

  CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm));

  tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64;

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

    /*

     * Compose pitch and roll terms. This is finally where the sticks come into play.

     */

    if(gyroIFactor) {

      // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos.

      // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time.

      // TODO: Find out why this seems to be proportional to stick position - not integrating it at all.

      IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos.

    } else {

      // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos.

      // To keep up with a full stick PDPart should be about 156...

      IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos.

    }

    // TODO: From which planet comes the 16000?

    CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L));

    // Add (P, D) parts minus stick pos. to the scaled-down I part.

    term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki;    // PID-controller for pitch

    /*

     * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!).

     * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity

     * (max. pitch or roll term is the throttle value).

     * TODO: Why a growing function of yaw?

     */

    CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int);

  }

  // end part 3: 350 - 400 usec.

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

  // Universal Mixer

  // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING].

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

  DebugOut.Analog[12] = term[PITCH];

  DebugOut.Analog[13] = term[ROLL];

  DebugOut.Analog[14] = yawTerm;

  DebugOut.Analog[15] = throttleTerm;

  for(i = 0; i < MAX_MOTORS; i++) {

    int16_t tmp;

    if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) {

      tmp =  ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L;

      tmp += ((int32_t)term[PITCH]  * Mixer.Motor[i][MIX_PITCH])    / 64L;

      tmp += ((int32_t)term[ROLL]   * Mixer.Motor[i][MIX_ROLL])     / 64L;

      tmp += ((int32_t)yawTerm      * Mixer.Motor[i][MIX_YAW])      / 64L;

      motorFilters[i] = motorFilter(tmp, motorFilters[i]);

      // Now we scale back down to a 0..255 range.

      tmp = motorFilters[i] / CONTROL_SCALING;

      // So this was the THIRD time a throttle was limited. But should the limitation

      // apply to the common throttle signal (the one used for setting the "power" of 

      // all motors together) or should it limit the throttle set for each motor, 

      // including mix components of pitch, roll and yaw? I think only the common

      // throttle should be limited.

      // --> WRONG. This caused motors to stall completely in tight maneuvers.

      // Apply to individual signals instead.

      CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle);

      CHECK_MIN_MAX(tmp, 1, 255);

      motor[i].SetPoint = tmp;

    }

    else if (motorTestActive) {

      motor[i].SetPoint = motorTest[i];

    } else {

      motor[i].SetPoint = 0;

    }

    if (i < 4)

      DebugOut.Analog[22+i] = motor[i].SetPoint;

  }

  I2C_Start(TWI_STATE_MOTOR_TX);

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

  // Debugging

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

  if(!(--debugDataTimer)) {

    debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz.

    DebugOut.Analog[0]  = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg

    DebugOut.Analog[1]  = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg

    DebugOut.Analog[2]  = yawGyroHeading / GYRO_DEG_FACTOR_YAW;

    /*

    DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING);

    DebugOut.Analog[24] = controlYaw;

    DebugOut.Analog[25] = yawAngleDiff / 100L;

    DebugOut.Analog[26] = accNoisePeak[PITCH];

    DebugOut.Analog[27] = accNoisePeak[ROLL];

    */

    DebugOut.Analog[30] = gyroNoisePeak[PITCH];

    DebugOut.Analog[31] = gyroNoisePeak[ROLL];

  }

}