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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | #include <inttypes.h> |
| 2 | #include "attitude.h" |
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| 3 | #include "uart0.h" |
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| 4 | #include "configuration.h" |
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| 5 | #include "controlMixer.h" |
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| 6 | |||
| 7 | // for digital / LED debug. |
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| 8 | #include "output.h" |
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| 9 | |||
| 10 | // For scope debugging only! |
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| 11 | #include "rc.h" |
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| 12 | |||
| 13 | #define INTEGRAL_LIMIT 100000 |
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| 14 | |||
| 15 | /* |
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| 16 | #define DEBUGINTEGRAL 0 |
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| 17 | #define DEBUGDIFFERENTIAL 0 |
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| 18 | #define DEBUGHOVERTHROTTLE 0 |
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| 19 | #define DEBUGHEIGHTSWITCH 0 |
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| 20 | */ |
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| 21 | |||
| 22 | #define LATCH_TIME 40 |
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| 23 | |||
| 24 | int32_t groundPressure; |
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| 25 | |||
| 26 | int32_t targetHeight; |
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| 27 | int32_t rampedTargetHeight; |
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| 28 | |||
| 29 | #define DEFAULT_HOVERTHROTTLE 50 |
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| 30 | int32_t stronglyFilteredHeightDiff = 0; |
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| 31 | uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE; |
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| 32 | uint16_t stronglyFilteredThrottle = DEFAULT_HOVERTHROTTLE; |
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| 33 | #define HOVERTHROTTLEFILTER 25 |
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| 34 | |||
| 35 | uint8_t heightRampingTimer = 0; |
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| 36 | int32_t maxHeight; |
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| 37 | int32_t iHeight; |
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| 38 | /* |
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| 39 | These parameters are free to take: |
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| 40 | uint8_t HeightMinGas; // Value : 0-100 |
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| 41 | uint8_t HeightD; // Value : 0-250 |
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| 42 | uint8_t MaxHeight; // Value : 0-32 |
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| 43 | uint8_t HeightP; // Value : 0-32 |
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| 44 | uint8_t Height_Gain; // Value : 0-50 |
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| 45 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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| 46 | */ |
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| 47 | |||
| 48 | int32_t getHeight(void) { |
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| 49 | return groundPressure - filteredAirPressure; |
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| 50 | } |
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| 51 | |||
| 52 | void HC_setGround(void) { |
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| 53 | groundPressure = filteredAirPressure; |
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| 54 | // This should also happen when height control is enabled in-flight. |
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| 55 | rampedTargetHeight = getHeight(); |
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| 56 | maxHeight = 0; |
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| 57 | iHeight = 0; |
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| 58 | } |
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| 59 | |||
| 60 | void HC_update(void) { |
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| 61 | int32_t height = getHeight(); |
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| 62 | static uint8_t setHeightLatch = 0; |
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| 63 | |||
| 64 | if (height > maxHeight) |
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| 65 | maxHeight = height; |
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| 66 | |||
| 67 | if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
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| 68 | // If switch is activated in config |
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| 69 | DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
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| 70 | if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40) { |
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| 71 | // Switch is ON |
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| 72 | if (setHeightLatch <= LATCH_TIME) { |
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| 73 | if (setHeightLatch == LATCH_TIME) { |
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| 74 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
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| 75 | targetHeight = height; |
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| 76 | DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH; |
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| 77 | } |
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| 78 | // Time not yet reached. |
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| 79 | setHeightLatch++; |
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| 80 | } |
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| 81 | } else { |
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| 82 | // Switch is OFF. |
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| 83 | setHeightLatch = 0; |
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| 84 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH; |
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| 85 | } |
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| 86 | } else { |
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| 87 | // Switch is not activated; take the "max-height" as the target height. |
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| 88 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
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| 89 | targetHeight = (uint16_t)dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
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| 90 | } |
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| 91 | |||
| 92 | if (++heightRampingTimer == INTEGRATION_FREQUENCY/10) { |
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| 93 | heightRampingTimer = 0; |
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| 94 | if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
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| 95 | rampedTargetHeight += staticParams.Height_Gain; |
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| 96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
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| 97 | rampedTargetHeight -= staticParams.Height_Gain; |
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| 98 | } |
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| 99 | } |
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| 100 | |||
| 1796 | - | 101 | // height, in meters (so the division factor is: 100) |
| 102 | DebugOut.Analog[30] = height / 100; |
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| 1775 | - | 103 | } |
| 104 | |||
| 105 | // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
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| 106 | // ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH |
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| 107 | // ParamSet.BitConfig & CFG_HEIGHT_3SWITCH |
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| 108 | |||
| 109 | // takes 180-200 usec (with integral term). That is too heavy!!! |
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| 110 | // takes 100 usec without integral term. |
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| 111 | uint16_t HC_getThrottle(uint16_t throttle) { |
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| 112 | int32_t height = getHeight(); |
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| 113 | int32_t heightError = rampedTargetHeight - height; |
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| 114 | |||
| 115 | static int32_t lastHeight; |
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| 116 | |||
| 117 | int16_t dHeight = height - lastHeight; |
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| 118 | lastHeight = height; |
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| 119 | |||
| 120 | // DebugOut.Analog[20] = dHeight; |
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| 121 | // DebugOut.Analog[21] = dynamicParams.MaxHeight; |
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| 122 | |||
| 123 | // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec.... |
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| 124 | // iHeight += heightError; |
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| 125 | |||
| 126 | if (dHeight > 0) { |
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| 127 | DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
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| 128 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
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| 129 | } else if (dHeight < 0) { |
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| 130 | DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
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| 131 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
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| 132 | } |
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| 133 | |||
| 134 | /* |
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| 135 | if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
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| 136 | else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
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| 137 | else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
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| 138 | else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
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| 139 | */ |
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| 140 | |||
| 141 | int16_t dThrottle = heightError * staticParams.HeightP / 1000 /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */ - dHeight * staticParams.HeightD; |
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| 142 | |||
| 143 | // the "minGas" is now a limit for how much up / down the throttle can be varied |
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| 144 | if (dThrottle > staticParams.HeightMinGas) dThrottle = staticParams.HeightMinGas; |
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| 145 | else if (dThrottle < -staticParams.HeightMinGas) dThrottle = -staticParams.HeightMinGas; |
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| 146 | |||
| 147 | //DebugOut.Analog[18] = dThrottle; |
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| 148 | //DebugOut.Analog[19] = iHeight / 10000L; |
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| 149 | |||
| 150 | // TODO: Eliminate repitition. |
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| 151 | if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
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| 152 | if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40)) { |
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| 153 | // If switch is not in use --> Just apply height control. |
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| 154 | // If switch is in use --> only apply height control when switch is also ON. |
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| 155 | throttle += dThrottle; |
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| 156 | } |
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| 157 | } |
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| 158 | |||
| 159 | /* Experiment: Find hover-throttle */ |
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| 160 | stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
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| 161 | stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER - 1) + throttle) / HOVERTHROTTLEFILTER; |
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| 162 | |||
| 163 | if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 && stronglyFilteredHeightDiff > -3) { |
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| 164 | hoverThrottle = stronglyFilteredThrottle; |
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| 165 | DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
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| 166 | // DebugOut.Analog[18] = hoverThrottle; |
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| 167 | } else |
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| 168 | DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
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| 169 | return throttle; |
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| 170 | } |
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| 171 | |||
| 172 | /* |
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| 173 | For a variometer thingy: |
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| 174 | When switch is thrown on, freeze throttle (capture it into variable) |
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| 175 | For each iter., add (throttle - frozen throttle) to target height. Maybe don't do ramping. |
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| 176 | Output = frozen throttle + whatever is computed +/-. Integral? |
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| 177 | */ |