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| Rev 761 | Rev 762 | ||
|---|---|---|---|
| Line 68... | Line 68... | ||
| 68 | #include "mm3.h" |
68 | #include "mm3.h" |
| 69 | #endif |
69 | #endif |
| 70 | #ifdef USE_CMPS03 |
70 | #ifdef USE_CMPS03 |
| 71 | #include "cmps03.h" |
71 | #include "cmps03.h" |
| 72 | #endif |
72 | #endif |
| - | 73 | #include "led.h" |
|
| Line 73... | Line 74... | ||
| 73 | 74 | ||
| 74 | volatile uint16_t I2CTimeout = 100; |
75 | volatile uint16_t I2CTimeout = 100; |
| 75 | // gyro readings |
76 | // gyro readings |
| 76 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
77 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| Line 112... | Line 113... | ||
| 112 | float Gyro_P_Factor; |
113 | float Gyro_P_Factor; |
| 113 | float Gyro_I_Factor; |
114 | float Gyro_I_Factor; |
| Line 114... | Line 115... | ||
| 114 | 115 | ||
| Line 115... | Line 116... | ||
| 115 | volatile int16_t DiffPitch, DiffRoll; |
116 | volatile int16_t DiffPitch, DiffRoll; |
| Line 116... | Line 117... | ||
| 116 | 117 | ||
| 117 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
118 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| Line 118... | Line 119... | ||
| 118 | 119 | ||
| Line 360... | Line 361... | ||
| 360 | //update poti values by rc-signals |
361 | //update poti values by rc-signals |
| 361 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
362 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| 362 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
363 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
| 363 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
364 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
| 364 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
365 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
| - | 366 | ||
| - | 367 | //PPM24-Extension |
|
| - | 368 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
|
| - | 369 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
|
| - | 370 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
|
| - | 371 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
|
| - | 372 | ||
| 365 | //limit poti values |
373 | //limit poti values |
| 366 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
374 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| 367 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
375 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| 368 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
376 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| 369 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
377 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| - | 378 | //PPM24-Extension |
|
| - | 379 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
|
| - | 380 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
|
| - | 381 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
|
| - | 382 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
|
| Line 370... | Line 383... | ||
| 370 | 383 | ||
| 371 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
384 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| 372 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
385 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| Line 405... | Line 418... | ||
| 405 | /************************************************************************/ |
418 | /************************************************************************/ |
| 406 | /* Maps the parameter to poti values */ |
419 | /* Maps the parameter to poti values */ |
| 407 | /************************************************************************/ |
420 | /************************************************************************/ |
| 408 | void ParameterMapping(void) |
421 | void ParameterMapping(void) |
| 409 | { |
422 | { |
| - | 423 | if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok |
|
| - | 424 | // else the last updated values are used |
|
| 410 | 425 | { |
|
| 411 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
426 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| 412 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
427 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
| 413 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
428 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
| 414 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
429 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
| 415 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
430 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
| 416 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
431 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
| 417 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
432 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
| 418 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
433 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
| 419 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
434 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
| 420 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
435 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
| 421 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
436 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
| 422 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
437 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
| 423 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
438 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
| 424 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
439 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
| 425 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
440 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
| 426 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
441 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
| 427 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
442 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
| 428 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
443 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
| 429 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
444 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
| 430 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
445 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
| 431 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
446 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
| 432 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
447 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
| 433 | - | ||
| 434 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
448 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
| - | 449 | } |
|
| 435 | } |
450 | } |
| Line 436... | Line 451... | ||
| 436 | 451 | ||
| 437 | 452 | ||
| 438 | /************************************************************************/ |
453 | /************************************************************************/ |
| 439 | /* MotorControl */ |
454 | /* MotorControl */ |
| 440 | /************************************************************************/ |
455 | /************************************************************************/ |
| 441 | void MotorControl(void) |
456 | void MotorControl(void) |
| 442 | { |
457 | { |
| 443 | int16_t MotorValue, pd_result, h, tmp_int; |
458 | int16_t MotorValue, pd_result, h, tmp_int; |
| 444 | int16_t YawMixFraction, ThrustMixFraction; |
459 | int16_t YawMixFraction, ThrustMixFraction; |
| 445 | static int32_t SumPitch = 0, SumRoll = 0; |
460 | static int32_t SumPitch = 0, SumRoll = 0; |
| 446 | static int32_t SetPointYaw = 0; |
461 | static int32_t SetPointYaw = 0; |
| 447 | static int32_t IntegralErrorPitch = 0; |
462 | static int32_t IntegralErrorPitch = 0; |
| 448 | static int32_t IntegralErrorRoll = 0; |
463 | static int32_t IntegralErrorRoll = 0; |
| 449 | static uint16_t RcLostTimer; |
464 | static uint16_t RcLostTimer; |
| 450 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
465 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
| 451 | static uint16_t Modell_Is_Flying = 0; |
466 | static uint16_t Modell_Is_Flying = 0; |
| 452 | static uint8_t HeightControlActive = 0; |
467 | static uint8_t HeightControlActive = 0; |
| 453 | static int16_t HeightControlThrust = 0; |
468 | static int16_t HeightControlThrust = 0; |
| 454 | static int8_t TimerDebugOut = 0; |
469 | static int8_t TimerDebugOut = 0; |
| Line 455... | Line 470... | ||
| 455 | static int8_t StoreNewCompassCourse = 0; |
470 | static int8_t StoreNewCompassCourse = 0; |
| - | 471 | static int32_t CorrectionPitch, CorrectionRoll; |
|
| Line 456... | Line -... | ||
| 456 | static int32_t CorrectionPitch, CorrectionRoll; |
- | |
| 457 | 472 | ||
| 458 | Mean(); |
473 | Mean(); |
| 459 | 474 | GRN_ON; |
|
| 460 | GRN_ON; |
475 | |
| 461 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
476 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 469... | Line 484... | ||
| 469 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
484 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
| 470 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
485 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
| 471 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
486 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
| 472 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
487 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
| 473 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
488 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
| 474 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
489 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
| 475 | { |
490 | { |
| 476 | if(!PcAccess) // if also no PC-Access via UART |
491 | if(!PcAccess) // if also no PC-Access via UART |
| 477 | { |
492 | { |
| 478 | if(BeepModulation == 0xFFFF) |
493 | if(BeepModulation == 0xFFFF) |
| 479 | { |
494 | { |
| Line 498... | Line 513... | ||
| 498 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
513 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| 499 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
514 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| 500 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
515 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| 501 | } |
516 | } |
| 502 | else MotorsOn = 0; // switch of all motors |
517 | else MotorsOn = 0; // switch of all motors |
| 503 | } |
518 | } // eof SenderOkay < 100 |
| 504 | else |
519 | else |
| 505 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
520 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 506 | // RC-signal is good |
521 | // RC-signal is good |
| 507 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
522 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 508 | if(SenderOkay > 140) |
523 | if(SenderOkay > 140) |
| Line 528... | Line 543... | ||
| 528 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
543 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| 529 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
544 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 530 | // calibrate the neutral readings of all attitude sensors |
545 | // calibrate the neutral readings of all attitude sensors |
| 531 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
546 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 532 | { |
547 | { |
| 533 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
548 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| 534 | { |
- | |
| 535 | delay_neutral = 0; |
- | |
| 536 | GRN_OFF; |
- | |
| 537 | Modell_Is_Flying = 0; |
- | |
| 538 | // check roll/pitch stick position |
- | |
| 539 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
- | |
| 540 | // according to roll/pitch stick position |
- | |
| 541 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
- | |
| 542 | { |
549 | { |
| - | 550 | delay_neutral = 0; |
|
| - | 551 | GRN_OFF; |
|
| - | 552 | Modell_Is_Flying = 0; |
|
| - | 553 | // check roll/pitch stick position |
|
| - | 554 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
|
| - | 555 | // according to roll/pitch stick position |
|
| - | 556 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
|
| - | 557 | { |
|
| 543 | uint8_t setting = 1; // default |
558 | uint8_t setting = 1; // default |
| 544 | // _________ |
559 | // _________ |
| 545 | // |2 3 4| |
560 | // |2 3 4| |
| 546 | // | | |
561 | // | | |
| 547 | // |1 5| |
562 | // |1 5| |
| 548 | // | | |
563 | // | | |
| 549 | // |_________| |
564 | // |_________| |
| 550 | // |
565 | // |
| 551 | // roll stick leftmost and pitch stick centered --> setting 1 |
566 | // roll stick leftmost and pitch stick centered --> setting 1 |
| 552 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
567 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
| 553 | // roll stick leftmost and pitch stick topmost --> setting 2 |
568 | // roll stick leftmost and pitch stick topmost --> setting 2 |
| 554 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
569 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
| 555 | // roll stick centered an pitch stick topmost --> setting 3 |
570 | // roll stick centered an pitch stick topmost --> setting 3 |
| 556 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
571 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
| 557 | // roll stick rightmost and pitch stick topmost --> setting 4 |
572 | // roll stick rightmost and pitch stick topmost --> setting 4 |
| 558 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
573 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
| 559 | // roll stick rightmost and pitch stick centered --> setting 5 |
574 | // roll stick rightmost and pitch stick centered --> setting 5 |
| 560 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
575 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
| 561 | // update active parameter set in eeprom |
576 | // update active parameter set in eeprom |
| 562 | SetActiveParamSet(setting); |
577 | SetActiveParamSet(setting); |
| 563 | } |
578 | } |
| 564 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
579 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 565 | SetNeutral(); |
580 | SetNeutral(); |
| 566 | Beep(GetActiveParamSet()); |
581 | Beep(GetActiveParamSet()); |
| 567 | } |
582 | } |
| 568 | } |
583 | } |
| 569 | // and if the yaw stick is in the rightmost position |
584 | // and if the yaw stick is in the rightmost position |
| 570 | // save the ACC neutral setting to eeprom |
585 | // save the ACC neutral setting to eeprom |
| 571 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
586 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| 572 | { |
587 | { |
| 573 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
588 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| 574 | { |
589 | { |
| 575 | delay_neutral = 0; |
590 | delay_neutral = 0; |
| 576 | GRN_OFF; |
591 | GRN_OFF; |
| Line 582... | Line 597... | ||
| 582 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
597 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| 583 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
598 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
| 584 | Beep(GetActiveParamSet()); |
599 | Beep(GetActiveParamSet()); |
| 585 | } |
600 | } |
| 586 | } |
601 | } |
| 587 | else delay_neutral = 0; |
602 | else delay_neutral = 0; |
| 588 | } |
603 | } |
| 589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
604 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 590 | // thrust stick is down |
605 | // thrust stick is down |
| 591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
606 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 592 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
607 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
| Line 622... | Line 637... | ||
| 622 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
637 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| 623 | { |
638 | { |
| 624 | delay_stopmotors = 200; // do not repeat if once executed |
639 | delay_stopmotors = 200; // do not repeat if once executed |
| 625 | Modell_Is_Flying = 0; |
640 | Modell_Is_Flying = 0; |
| 626 | MotorsOn = 0; |
641 | MotorsOn = 0; |
| 627 | - | ||
| - | 642 | GPS_ClearHomePosition(); |
|
| 628 | } |
643 | } |
| 629 | } |
644 | } |
| 630 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
645 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| 631 | } |
- | |
| 632 | } |
646 | } |
| - | 647 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
|
| - | 648 | } // eof SenderOkay > 140 |
|
| 633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
649 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 634 | // new values from RC |
650 | // new values from RC |
| 635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
651 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 636 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
652 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
| 637 | { |
653 | { |
| 638 | int tmp_int; |
654 | int tmp_int; |
| 639 | ParameterMapping(); // remapping params (online poti replacement) |
655 | ParameterMapping(); // remapping params (online poti replacement) |
| 640 | - | ||
| 641 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
656 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| 642 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
657 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
| 643 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
658 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
| 644 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
659 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
| 645 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
660 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
| 646 | 661 | ||
| 647 | // direct mapping of yaw and thrust |
662 | // direct mapping of yaw and thrust |
| 648 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
663 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
| 649 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
664 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
| 650 | 665 | ||
| 651 | // update max stick positions for pitch, roll and yaw |
666 | // update max stick positions for pitch, roll and yaw |
| 652 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
667 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
| 653 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
668 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
| 654 | else MaxStickPitch--; |
669 | else MaxStickPitch--; |
| 655 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
670 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
| 656 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
671 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| 657 | else MaxStickRoll--; |
672 | else MaxStickRoll--; |
| 658 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
673 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
| 659 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
674 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| 660 | else MaxStickYaw--; |
675 | else MaxStickYaw--; |
| Line 661... | Line 676... | ||
| 661 | 676 | ||
| Line 662... | Line 677... | ||
| 662 | // update gyro control loop factors |
677 | // update gyro control loop factors |
| 663 | 678 | ||
| Line 664... | Line 679... | ||
| 664 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
679 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
| 665 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
680 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
| 666 | 681 | ||
| Line 667... | Line 682... | ||
| 667 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
682 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 668 | // Digital Control via DubWise |
683 | // Digital Control via DubWise |
| 669 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
684 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 670 | 685 | ||
| 671 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
686 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
| 672 | if(DubWiseKeys[1]) BeepTime = 10; |
687 | if(DubWiseKeys[1]) BeepTime = 10; |
| 673 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
688 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
| 674 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
689 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
| 675 | else tmp_int = 0; |
690 | else tmp_int = 0; |
| 676 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
691 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
| 677 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
692 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
| 678 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
693 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
| 679 | else tmp_int = 0; |
694 | else tmp_int = 0; |
| 680 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
695 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| 681 | 696 | ||
| 682 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
697 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
| 683 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
698 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
| 684 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
699 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
| 685 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
700 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
| Line 686... | Line 701... | ||
| 686 | 701 | ||
| 687 | StickPitch += ExternStickPitch / 8; |
702 | StickPitch += ExternStickPitch / 8; |
| 688 | StickRoll += ExternStickRoll / 8; |
703 | StickRoll += ExternStickRoll / 8; |
| Line 689... | Line 704... | ||
| 689 | StickYaw += ExternStickYaw; |
704 | StickYaw += ExternStickYaw; |
| 690 | 705 | ||
| 691 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 692 | //+ Analog control via serial communication |
707 | //+ Analog control via serial communication |
| 693 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
708 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 694 | 709 | ||
| 695 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
710 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
| 696 | { |
711 | { |
| 697 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
712 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
| 698 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
713 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
| 699 | StickYaw += ExternControl.Yaw; |
714 | StickYaw += ExternControl.Yaw; |
| 700 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
715 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
| 701 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
716 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
| Line 702... | Line 717... | ||
| 702 | } |
717 | } |
| 703 | // disable I part of gyro control feedback |
718 | // disable I part of gyro control feedback |
| 704 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
719 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
| Line 705... | Line 720... | ||
| 705 | // avoid negative scaling factors |
720 | // avoid negative scaling factors |
| 706 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
721 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
| 707 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
722 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
| 708 | 723 | ||
| 709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 710 | // Looping? |
725 | // Looping? |
| 711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 712 | 727 | ||
| 713 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
728 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| 714 | else |
729 | else |
| 715 | { |
730 | { |
| 716 | { |
731 | { |
| 717 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
732 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
| 718 | } |
733 | } |
| 719 | } |
734 | } |
| Line 720... | Line 735... | ||
| 720 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
735 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
| 721 | else |
736 | else |
| 722 | { |
737 | { |
| 723 | if(Looping_Right) // Hysterese |
738 | if(Looping_Right) // Hysterese |
| 724 | { |
739 | { |
| 725 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
740 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
| 726 | } |
741 | } |
| 727 | } |
742 | } |
| 728 | 743 | ||
| 729 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
744 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
| 730 | else |
745 | else |
| 731 | { |
746 | { |
| 732 | if(Looping_Top) // Hysterese |
747 | if(Looping_Top) // Hysterese |
| 733 | { |
748 | { |
| 734 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
749 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
| 735 | } |
750 | } |
| Line 736... | Line 751... | ||
| 736 | } |
751 | } |
| 737 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
752 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
| 738 | else |
753 | else |
| Line 739... | Line 754... | ||
| 739 | { |
754 | { |
| 740 | if(Looping_Down) // Hysterese |
755 | if(Looping_Down) // Hysterese |
| 741 | { |
756 | { |
| 742 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
757 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
| 743 | } |
758 | } |
| - | 759 | } |
|
| - | 760 | ||
| - | 761 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
|
| - | 762 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
|
| - | 763 | } // End of new RC-Values or Emergency Landing |
|
| - | 764 | ||
| - | 765 | ||
| - | 766 | if(Looping_Roll) BeepTime = 100; |
|
| Line 744... | Line 767... | ||
| 744 | } |
767 | if(Looping_Roll || Looping_Pitch) |
| 745 | 768 | { |
|
| 746 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
769 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
| 747 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
770 | } |
| 748 | } // End of new RC-Values or Emergency Landing |
771 | |
| 749 | 772 | ||
| 750 | 773 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 751 | if(Looping_Roll) BeepTime = 100; |
774 | //+ LED Control on J16/J17 |
| 752 | if(Looping_Roll || Looping_Pitch) |
775 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 753 | { |
776 | LED_OffTime = FCParam.UserParam7; |
| 754 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
777 | LED_OnTime = FCParam.UserParam8; |
| 755 | } |
778 | LED_Update(); |
| 756 | 779 | ||
| 757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 758 | // in case of emergency landing |
781 | // in case of emergency landing |
| 759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 760 | // set all inputs to save values |
783 | // set all inputs to save values |
| Line 761... | Line 784... | ||
| 761 | if(EmergencyLanding) |
784 | if(EmergencyLanding) |
| 762 | { |
785 | { |
| 763 | StickYaw = 0; |
786 | StickYaw = 0; |
| Line 764... | Line 787... | ||
| 764 | StickPitch = 0; |
787 | StickPitch = 0; |
| 765 | StickRoll = 0; |
788 | StickRoll = 0; |
| 766 | Gyro_P_Factor = 0.5; |
789 | Gyro_P_Factor = 0.5; |
| 767 | Gyro_I_Factor = 0.003; |
790 | Gyro_I_Factor = 0.003; |
| Line 768... | Line 791... | ||
| 768 | Looping_Roll = 0; |
791 | Looping_Roll = 0; |
| 769 | Looping_Pitch = 0; |
792 | Looping_Pitch = 0; |
| 770 | MaxStickPitch = 0; |
793 | MaxStickPitch = 0; |
| 771 | MaxStickRoll = 0; |
794 | MaxStickRoll = 0; |
| Line 772... | Line 795... | ||
| 772 | MaxStickYaw = 0; |
795 | MaxStickYaw = 0; |
| 773 | } |
796 | } |
| Line 774... | Line 797... | ||
| 774 | 797 | ||
| 775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 776... | Line 799... | ||
| 776 | // Trim Gyro-Integrals to ACC-Signals |
799 | // Trim Gyro-Integrals to ACC-Signals |
| 777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
800 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 778... | Line 801... | ||
| 778 | 801 | ||
| 779 | #define BALANCE_NUMBER 256L |
802 | #define BALANCE_NUMBER 256L |
| - | 803 | // sum for averaging |
|
| - | 804 | MeanIntegralPitch += IntegralPitch; |
|
| - | 805 | MeanIntegralRoll += IntegralRoll; |
|
| - | 806 | ||
| - | 807 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
|
| - | 808 | { |
|
| - | 809 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
|
| - | 810 | MeasurementCounter = 0; |
|
| - | 811 | ||
| - | 812 | IntegralAccPitch = 0; |
|
| - | 813 | IntegralAccRoll = 0; |
|
| - | 814 | ||
| - | 815 | MeanIntegralPitch = 0; |
|
| - | 816 | MeanIntegralRoll = 0; |
|
| - | 817 | ||
| - | 818 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
|
| - | 819 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
|
| - | 820 | ||
| - | 821 | AttitudeCorrectionPitch = 0; |
|
| - | 822 | AttitudeCorrectionRoll = 0; |
|
| - | 823 | } |
|
| 780 | // sum for averaging |
824 | |
| Line -... | Line 825... | ||
| - | 825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 826 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
|
| - | 827 | { |
|
| - | 828 | int32_t tmp_long, tmp_long2; |
|
| - | 829 | // determine the deviation of gyro integral from averaged acceleration sensor |
|
| - | 830 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
|
| - | 831 | tmp_long /= 16; |
|
| - | 832 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
|
| - | 833 | tmp_long2 /= 16; |
|
| - | 834 | ||
| 781 | MeanIntegralPitch += IntegralPitch; |
835 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
| - | 836 | { |
|
| - | 837 | tmp_long /= 3; |
|
| - | 838 | tmp_long2 /= 3; |
|
| - | 839 | } |
|
| - | 840 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
|
| - | 841 | { |
|
| - | 842 | tmp_long /= 3; |
|
| - | 843 | tmp_long2 /= 3; |
|
| - | 844 | } |
|
| 782 | MeanIntegralRoll += IntegralRoll; |
845 | |
| 783 | 846 | #define BALANCE 32 |
|
| - | 847 | // limit correction effect |
|
| - | 848 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
|
| 784 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
849 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
| - | 850 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
|
| - | 851 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
|
| - | 852 | // correct current readings |
|
| - | 853 | Reading_IntegralGyroPitch -= tmp_long; |
|
| - | 854 | Reading_IntegralGyroRoll -= tmp_long2; |
|
| - | 855 | } |
|
| 785 | { |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 786 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
857 | // MeasurementCounter is incremented in the isr of analog.c |
| - | 858 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
|
| 787 | MeasurementCounter = 0; |
859 | { |
| - | 860 | static int16_t cnt = 0; |
|
| - | 861 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
|
| 788 | 862 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
|
| - | 863 | ||
| 789 | IntegralAccPitch = 0; |
864 | // if not lopping in any direction (this should be alwais the case, |
| Line 790... | Line 865... | ||
| 790 | IntegralAccRoll = 0; |
865 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
| 791 | 866 | if(!Looping_Pitch && !Looping_Roll) |
|
| 792 | MeanIntegralPitch = 0; |
867 | { |
| 793 | MeanIntegralRoll = 0; |
868 | // Calculate mean value of the gyro integrals |
| 794 | - | ||
| 795 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
- | |
| 796 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
- | |
| 797 | - | ||
| 798 | AttitudeCorrectionPitch = 0; |
- | |
| 799 | AttitudeCorrectionRoll = 0; |
869 | MeanIntegralPitch /= BALANCE_NUMBER; |
| Line 800... | Line 870... | ||
| 800 | } |
870 | MeanIntegralRoll /= BALANCE_NUMBER; |
| 801 | 871 | ||
| 802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
872 | // Calculate mean of the acceleration values |
| 803 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
873 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
| 804 | { |
874 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
| 805 | int32_t tmp_long, tmp_long2; |
875 | |
| 806 | // determine the deviation of gyro integral from averaged acceleration sensor |
876 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 807 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
877 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| 808 | tmp_long /= 16; |
878 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
| - | 879 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
|
| 809 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
880 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
| 810 | tmp_long2 /= 16; |
881 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 811 | 882 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
|
| 812 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
883 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
| 813 | { |
- | |
| 814 | tmp_long /= 3; |
884 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
| 815 | tmp_long2 /= 3; |
885 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
| 816 | } |
886 | |
| - | 887 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
|
| - | 888 | { |
|
| - | 889 | AttitudeCorrectionPitch /= 2; |
|
| 817 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
890 | AttitudeCorrectionRoll /= 2; |
| - | 891 | } |
|
| - | 892 | ||
| - | 893 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 818 | { |
894 | // Gyro-Drift ermitteln |
| 819 | tmp_long /= 3; |
895 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 820 | tmp_long2 /= 3; |
896 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| - | 897 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
|
| 821 | } |
898 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
| 822 | - | ||
| 823 | #define BALANCE 32 |
899 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| 824 | // limit correction effect |
- | |
| 825 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
- | |
| 826 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
- | |
| 827 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
- | |
| 828 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
- | |
| 829 | // correct current readings |
- | |
| 830 | Reading_IntegralGyroPitch -= tmp_long; |
- | |
| 831 | Reading_IntegralGyroRoll -= tmp_long2; |
- | |
| 832 | } |
- | |
| 833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 834 | // MeasurementCounter is incremented in the isr of analog.c |
- | |
| 835 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
- | |
| 836 | { |
- | |
| 837 | static int16_t cnt = 0; |
- | |
| 838 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
- | |
| 839 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
- | |
| 840 | - | ||
| 841 | // if not lopping in any direction (this should be alwais the case, |
- | |
| 842 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
900 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
| 843 | if(!Looping_Pitch && !Looping_Roll) |
- | |
| 844 | { |
- | |
| 845 | // Calculate mean value of the gyro integrals |
- | |
| 846 | MeanIntegralPitch /= BALANCE_NUMBER; |
- | |
| 847 | MeanIntegralRoll /= BALANCE_NUMBER; |
- | |
| 848 | - | ||
| 849 | // Calculate mean of the acceleration values |
- | |
| 850 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
- | |
| 851 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
- | |
| 852 | - | ||
| 853 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 854 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
- | |
| 855 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
- | |
| 856 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
- | |
| 857 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
- | |
| 858 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 859 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
- | |
| 860 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
- | |
| 861 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
- | |
| 862 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
- | |
| 863 | - | ||
| 864 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
- | |
| 865 | { |
- | |
| 866 | AttitudeCorrectionPitch /= 2; |
- | |
| 867 | AttitudeCorrectionRoll /= 2; |
- | |
| 868 | } |
- | |
| 869 | - | ||
| 870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 871 | // Gyro-Drift ermitteln |
- | |
| 872 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 873 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
901 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
| 874 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
- | |
| 875 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
- | |
| 876 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
- | |
| 877 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
902 | |
| 878 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
- | |
| 879 | - | ||
| 880 | 903 | ||
| 881 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
904 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
| 882 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
905 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
| 883 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
906 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
| 884 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
- | |
| 885 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
- | |
| 886 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
907 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
| - | 908 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
|
| - | 909 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
|
| 887 | //DebugOut.Analog[28] = CorrectionPitch; |
910 | //DebugOut.Analog[28] = CorrectionPitch; |
| 888 | DebugOut.Analog[29] = CorrectionRoll; |
911 | DebugOut.Analog[29] = CorrectionRoll; |
| - | 912 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
|
| - | 913 | ||
| 889 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
914 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
| 890 | - | ||
| 891 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
- | |
| 892 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
915 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
| 893 | #define MOVEMENT_LIMIT 20000 |
916 | #define MOVEMENT_LIMIT 20000 |
| 894 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
917 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 895 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
918 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| 896 | CorrectionPitch = 0; |
- | |
| 897 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
- | |
| 898 | { |
919 | CorrectionPitch = 0; |
| 899 | if(IntegralErrorPitch > ERROR_LIMIT2) |
920 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
| 900 | { |
921 | { |
| - | 922 | if(IntegralErrorPitch > ERROR_LIMIT2) |
|
| - | 923 | { |
|
| 901 | if(last_n_p) |
924 | if(last_n_p) |
| 902 | { |
925 | { |
| 903 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
926 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| 904 | CorrectionPitch = IntegralErrorPitch / 8; |
927 | CorrectionPitch = IntegralErrorPitch / 8; |
| 905 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
928 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
| 906 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
929 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| 907 | } |
930 | } |
| 908 | else last_n_p = 1; |
931 | else last_n_p = 1; |
| 909 | } |
932 | } |
| 910 | else last_n_p = 0; |
933 | else last_n_p = 0; |
| - | 934 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
|
| - | 935 | { |
|
| 911 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
936 | if(last_n_n) |
| 912 | { |
937 | { |
| 913 | if(last_n_n) |
938 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| 914 | { |
- | |
| 915 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
- | |
| 916 | CorrectionPitch = IntegralErrorPitch / 8; |
939 | CorrectionPitch = IntegralErrorPitch / 8; |
| 917 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
940 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
| 918 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
941 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| 919 | } |
942 | } |
| 920 | else last_n_n = 1; |
- | |
| 921 | } |
- | |
| 922 | else last_n_n = 0; |
943 | else last_n_n = 1; |
| - | 944 | } |
|
| - | 945 | else last_n_n = 0; |
|
| 923 | } |
946 | } |
| 924 | else cnt = 0; |
947 | else cnt = 0; |
| - | 948 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
|
| - | 949 | // correct Gyro Offsets |
|
| 925 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
950 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
| 926 | // correct Gyro Offsets |
- | |
| 927 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
- | |
| 928 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
951 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
| 929 | 952 | ||
| 930 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
953 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 931 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
954 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| 932 | CorrectionRoll = 0; |
- | |
| 933 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
- | |
| 934 | { |
955 | CorrectionRoll = 0; |
| 935 | if(IntegralErrorRoll > ERROR_LIMIT2) |
956 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
| 936 | { |
957 | { |
| 937 | if(last_r_p) |
958 | if(IntegralErrorRoll > ERROR_LIMIT2) |
| 938 | { |
- | |
| 939 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
- | |
| 940 | CorrectionRoll = IntegralErrorRoll / 8; |
- | |
| 941 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
- | |
| 942 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
- | |
| 943 | } |
- | |
| 944 | else last_r_p = 1; |
- | |
| 945 | } |
- | |
| 946 | else last_r_p = 0; |
- | |
| 947 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
- | |
| 948 | { |
- | |
| 949 | if(last_r_n) |
- | |
| 950 | { |
- | |
| 951 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
959 | { |
| - | 960 | if(last_r_p) |
|
| - | 961 | { |
|
| - | 962 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
|
| - | 963 | CorrectionRoll = IntegralErrorRoll / 8; |
|
| - | 964 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
|
| - | 965 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
|
| - | 966 | } |
|
| - | 967 | else last_r_p = 1; |
|
| - | 968 | } |
|
| - | 969 | else last_r_p = 0; |
|
| - | 970 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
|
| - | 971 | { |
|
| - | 972 | if(last_r_n) |
|
| - | 973 | { |
|
| - | 974 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
|
| Line 952... | Line 975... | ||
| 952 | CorrectionRoll = IntegralErrorRoll / 8; |
975 | CorrectionRoll = IntegralErrorRoll / 8; |
| 953 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
976 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
| 954 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
977 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| 955 | } |
978 | } |
| 956 | else last_r_n = 1; |
979 | else last_r_n = 1; |
| 957 | } |
980 | } |
| 958 | else last_r_n = 0; |
981 | else last_r_n = 0; |
| 959 | } |
982 | } |
| 960 | else cnt = 0; |
983 | else cnt = 0; |
| 961 | // correct Gyro Offsets |
984 | // correct Gyro Offsets |
| 962 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
985 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| 963 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
986 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
| 964 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
987 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
| 965 | 988 | ||
| 966 | DebugOut.Analog[27] = CorrectionRoll; |
989 | DebugOut.Analog[27] = CorrectionRoll; |
| 967 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
990 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
| 968 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
991 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| Line 969... | Line 992... | ||
| 969 | } |
992 | } |
| 970 | else // looping is active |
993 | else // looping is active |
| 971 | { |
994 | { |
| 972 | AttitudeCorrectionRoll = 0; |
995 | AttitudeCorrectionRoll = 0; |
| 973 | AttitudeCorrectionPitch = 0; |
996 | AttitudeCorrectionPitch = 0; |
| 974 | } |
997 | } |
| 975 | 998 | ||
| 976 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
999 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
| 977 | if(!Gyro_I_Factor) |
1000 | if(!Gyro_I_Factor) |
| 978 | { |
1001 | { |
| 979 | AttitudeCorrectionRoll = 0; |
1002 | AttitudeCorrectionRoll = 0; |
| 980 | AttitudeCorrectionPitch = 0; |
1003 | AttitudeCorrectionPitch = 0; |
| 981 | } |
1004 | } |
| 982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1005 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 983 | MeanIntegralPitch_old = MeanIntegralPitch; |
1006 | MeanIntegralPitch_old = MeanIntegralPitch; |
| Line 984... | Line 1007... | ||
| 984 | MeanIntegralRoll_old = MeanIntegralRoll; |
1007 | MeanIntegralRoll_old = MeanIntegralRoll; |
| 985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1008 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 986 | // reset variables used for averaging |
1009 | // reset variables used for averaging |
| 987 | IntegralAccPitch = 0; |
1010 | IntegralAccPitch = 0; |
| 988 | IntegralAccRoll = 0; |
1011 | IntegralAccRoll = 0; |
| 989 | MeanIntegralPitch = 0; |
1012 | MeanIntegralPitch = 0; |
| 990 | MeanIntegralRoll = 0; |
1013 | MeanIntegralRoll = 0; |
| 991 | MeasurementCounter = 0; |
- | |
| 992 | } // end of averaging |
- | |
| 993 | - | ||
| 994 | - | ||
| 995 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 996 | // Yawing |
- | |
| 997 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 998 | if(MaxStickYaw > 20) // yaw stick is activated |
- | |
| 999 | { // if not fixed compass course is set update compass course |
- | |
| 1000 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
- | |
| 1001 | } |
- | |
| Line 1002... | Line 1014... | ||
| 1002 | // exponential stick sensitivity in yawring rate |
1014 | MeasurementCounter = 0; |
| 1003 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1015 | } // end of averaging |
| 1004 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1016 | |
| 1005 | SetPointYaw = tmp_int; |
1017 | |
| - | 1018 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 1019 | // Yawing |
|
| 1006 | Reading_IntegralGyroYaw -= tmp_int; |
1020 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1007 | // limit the effect |
1021 | if(MaxStickYaw > 20) // yaw stick is activated |
| 1008 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1022 | { // if not fixed compass course is set update compass course |
| 1009 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1023 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
| Line 1010... | Line -... | ||
| 1010 | - | ||
| 1011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 1012 | // Compass |
- | |
| 1013 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 1014 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
- | |
| 1015 | { |
- | |
| 1016 | int16_t w,v; |
- | |
| 1017 | static uint8_t updCompass = 0; |
1024 | } |
| 1018 | - | ||
| 1019 | if (!updCompass--) |
- | |
| 1020 | { |
- | |
| 1021 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
- | |
| 1022 | // get current compass heading (angule between MK head and magnetic north) |
- | |
| 1023 | #ifdef USE_MM3 |
1025 | // exponential stick sensitivity in yawring rate |
| 1024 | CompassHeading = MM3_Heading(); |
1026 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
| - | 1027 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
|
| 1025 | #endif |
1028 | SetPointYaw = tmp_int; |
| - | 1029 | Reading_IntegralGyroYaw -= tmp_int; |
|
| - | 1030 | // limit the effect |
|
| 1026 | #ifdef USE_CMPS03 |
1031 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
| - | 1032 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
|
| 1027 | CompassHeading = CMPS03_Heading(); |
1033 | |
| 1028 | #endif |
1034 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 1035 | // Compass |
|
| - | 1036 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 1029 | 1037 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
|
| 1030 | if (CompassHeading < 0) // no compass data available |
1038 | { |
| 1031 | { |
1039 | int16_t w,v; |
| 1032 | CompassOffCourse = 0; |
1040 | static uint8_t updCompass = 0; |
| 1033 | if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
1041 | |
| 1034 | } |
- | |
| 1035 | else // calculate OffCourse (angular deviation from heading to course) |
1042 | if (!updCompass--) |
| 1036 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
- | |
| - | 1043 | { |
|
| - | 1044 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
|
| - | 1045 | // get current compass heading (angule between MK head and magnetic north) |
|
| 1037 | } |
1046 | #ifdef USE_MM3 |
| 1038 | 1047 | CompassHeading = MM3_Heading(); |
|
| 1039 | // reduce compass effect with increasing declination |
1048 | #endif |
| - | 1049 | #ifdef USE_CMPS03 |
|
| - | 1050 | CompassHeading = CMPS03_Heading(); |
|
| - | 1051 | #endif |
|
| - | 1052 | ||
| - | 1053 | if (CompassHeading < 0) // no compass data available |
|
| - | 1054 | { |
|
| - | 1055 | CompassOffCourse = 0; |
|
| - | 1056 | if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
|
| - | 1057 | } |
|
| - | 1058 | else // calculate OffCourse (angular deviation from heading to course) |
|
| - | 1059 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
|
| - | 1060 | } |
|
| - | 1061 | ||
| - | 1062 | // reduce compass effect with increasing declination |
|
| - | 1063 | w = abs(IntegralPitch / 512); |
|
| Line 1040... | Line 1064... | ||
| 1040 | w = abs(IntegralPitch / 512); |
1064 | v = abs(IntegralRoll / 512); |
| 1041 | v = abs(IntegralRoll / 512); |
1065 | if(v > w) w = v; // get maximum declination |
| 1042 | if(v > w) w = v; // get maximum declination |
1066 | // if declination is small enough update compass course if neccessary |
| 1043 | // if declination is small enough update compass course if neccessary |
1067 | if(w < 35 && StoreNewCompassCourse) |
| 1044 | if(w < 35 && StoreNewCompassCourse) |
1068 | { |
| 1045 | { |
1069 | CompassCourse = CompassHeading; |
| 1046 | CompassCourse = CompassHeading; |
1070 | StoreNewCompassCourse = 0; |
| 1047 | StoreNewCompassCourse = 0; |
1071 | } |
| 1048 | } |
1072 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
| 1049 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1073 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
| 1050 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
1074 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
| 1051 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1075 | { |
| 1052 | { |
1076 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
| 1053 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1077 | } |
| 1054 | } |
1078 | } |
| 1055 | } |
1079 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1080 | // GPS |
| 1057 | // GPS |
1081 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1082 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| 1059 | if((ParamSet.GlobalConfig & CFG_GPS_ACTIVE) && !EmergencyLanding) |
1083 | { |
| 1060 | { |
1084 | GPS_P_Factor = FCParam.UserParam5; |
| 1061 | GPS_P_Factor = FCParam.UserParam5; |
1085 | GPS_D_Factor = FCParam.UserParam6; |
| 1062 | GPS_D_Factor = FCParam.UserParam6; |
1086 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
| 1063 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
1087 | else GPS_Main(Poti3); |
| 1064 | } |
1088 | } |
| 1065 | else |
1089 | else |
| 1066 | { |
1090 | { |
| 1067 | GPS_Neutral(); |
1091 | GPS_Neutral(); |
| 1068 | } |
1092 | } |
| 1069 | 1093 | ||
| 1070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1094 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1071 | // Debugwerte zuordnen |
1095 | // Debugwerte zuordnen |
| 1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1096 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1073 | if(!TimerDebugOut--) |
1097 | if(!TimerDebugOut--) |
| 1074 | { |
1098 | { |
| 1075 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1099 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
| 1076 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1100 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
| 1077 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1101 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
| 1078 | DebugOut.Analog[2] = Mean_AccPitch; |
1102 | DebugOut.Analog[2] = Mean_AccPitch; |
| 1079 | DebugOut.Analog[3] = Mean_AccRoll; |
1103 | DebugOut.Analog[3] = Mean_AccRoll; |
| 1080 | DebugOut.Analog[4] = Reading_GyroYaw; |
1104 | DebugOut.Analog[4] = Reading_GyroYaw; |
| 1081 | DebugOut.Analog[5] = ReadingHeight; |
1105 | DebugOut.Analog[5] = ReadingHeight; |
| Line 1082... | Line 1106... | ||
| 1082 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1106 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
| 1083 | DebugOut.Analog[8] = CompassHeading; |
1107 | DebugOut.Analog[8] = CompassHeading; |
| 1084 | DebugOut.Analog[9] = UBat; |
1108 | DebugOut.Analog[9] = UBat; |
| Line 1085... | Line 1109... | ||
| 1085 | DebugOut.Analog[10] = SenderOkay; |
1109 | DebugOut.Analog[10] = SenderOkay; |
| 1086 | DebugOut.Analog[16] = Mean_AccTop; |
1110 | DebugOut.Analog[16] = Mean_AccTop; |
| 1087 | 1111 | ||
| 1088 | /* DebugOut.Analog[16] = motor_rx[0]; |
1112 | /* DebugOut.Analog[16] = motor_rx[0]; |
| 1089 | DebugOut.Analog[17] = motor_rx[1]; |
1113 | DebugOut.Analog[17] = motor_rx[1]; |
| 1090 | DebugOut.Analog[18] = motor_rx[2]; |
1114 | DebugOut.Analog[18] = motor_rx[2]; |
| 1091 | DebugOut.Analog[19] = motor_rx[3]; |
1115 | DebugOut.Analog[19] = motor_rx[3]; |
| 1092 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1116 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| 1093 | DebugOut.Analog[20] /= 14; |
1117 | DebugOut.Analog[20] /= 14; |
| 1094 | DebugOut.Analog[21] = motor_rx[4]; |
1118 | DebugOut.Analog[21] = motor_rx[4]; |
| 1095 | DebugOut.Analog[22] = motor_rx[5]; |
1119 | DebugOut.Analog[22] = motor_rx[5]; |
| 1096 | DebugOut.Analog[23] = motor_rx[6]; |
1120 | DebugOut.Analog[23] = motor_rx[6]; |
| 1097 | DebugOut.Analog[24] = motor_rx[7]; |
1121 | DebugOut.Analog[24] = motor_rx[7]; |
| 1098 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1122 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| 1099 | 1123 | ||
| 1100 | DebugOut.Analog[9] = Reading_GyroPitch; |
1124 | DebugOut.Analog[9] = Reading_GyroPitch; |
| 1101 | DebugOut.Analog[9] = SetPointHeight; |
1125 | DebugOut.Analog[9] = SetPointHeight; |
| 1102 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1126 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| Line 1103... | Line 1127... | ||
| 1103 | DebugOut.Analog[11] = CompassCourse; |
1127 | DebugOut.Analog[11] = CompassCourse; |
| 1104 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1128 | DebugOut.Analog[10] = FCParam.Gyro_I; |
| 1105 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1129 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
| 1106 | DebugOut.Analog[9] = CompassOffCourse; |
1130 | DebugOut.Analog[9] = CompassOffCourse; |
| 1107 | DebugOut.Analog[10] = ThrustMixFraction; |
1131 | DebugOut.Analog[10] = ThrustMixFraction; |
| 1108 | DebugOut.Analog[3] = HeightD * 32; |
1132 | DebugOut.Analog[3] = HeightD * 32; |
| 1109 | DebugOut.Analog[4] = HeightControlThrust; |
1133 | DebugOut.Analog[4] = HeightControlThrust; |
| 1110 | */ |
1134 | */ |
| 1111 | } |
1135 | } |
| 1112 | 1136 | ||
| 1113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1137 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1114 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1138 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
| 1115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 1116 | - | ||
| 1117 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
- | |
| 1118 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
- | |
| 1119 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
- | |
| 1120 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
- | |
| 1121 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
- | |
| 1122 | 1139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 1123 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1140 | |
| 1124 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1141 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
| 1125 | DebugOut.Analog[28] = Reading_GyroRoll; |
1142 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
| - | 1143 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
|
| - | 1144 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
|
| - | 1145 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
|
| - | 1146 | ||
| - | 1147 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
|
| - | 1148 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
|
| - | 1149 | DebugOut.Analog[28] = Reading_GyroRoll; |
|
| 1126 | 1150 | ||
| 1127 | // limit control feedback |
1151 | // limit control feedback |
| 1128 | #define MAX_SENSOR 2048 |
1152 | #define MAX_SENSOR 2048 |
| 1129 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1153 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
| - | 1154 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
|
| - | 1155 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
|
| - | 1156 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
|
| - | 1157 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
|
| - | 1158 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
|
| - | 1159 | ||
| - | 1160 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 1161 | // Height Control |
|
| - | 1162 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
|
| - | 1163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 1164 | // If hight control is activated and no emergency landing is active |
|
| - | 1165 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
|
| - | 1166 | { |
|
| - | 1167 | int tmp_int; |
|
| - | 1168 | // if hight control is activated by an rc channel |
|
| 1130 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1169 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
| 1131 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
- | |
| 1132 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
- | |
| 1133 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
- | |
| 1134 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
- | |
| 1135 | - | ||
| 1136 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 1137 | // Height Control |
- | |
| 1138 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
- | |
| 1139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 1140 | // If hight control is activated and no emergency landing is active |
- | |
| 1141 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
- | |
| 1142 | { |
- | |
| 1143 | int tmp_int; |
- | |
| 1144 | // if hight control is activated by an rc channel |
- | |
| 1145 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
- | |
| 1146 | { // check if parameter is less than activation threshold |
1170 | { // check if parameter is less than activation threshold |
| 1147 | if(FCParam.MaxHeight < 50) |
1171 | if(FCParam.MaxHeight < 50) |
| 1148 | { |
1172 | { |
| 1149 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1173 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
| 1150 | HeightControlActive = 0; // disable hight control |
1174 | HeightControlActive = 0; // disable hight control |
| 1151 | } |
1175 | } |
| 1152 | else HeightControlActive = 1; // enable hight control |
1176 | else HeightControlActive = 1; // enable hight control |
| 1153 | } |
- | |
| 1154 | else // no switchable hight control |
1177 | } |
| - | 1178 | else // no switchable hight control |
|
| 1155 | { |
1179 | { |
| 1156 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1180 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
| 1157 | HeightControlActive = 1; |
1181 | HeightControlActive = 1; |
| 1158 | } |
1182 | } |
| 1159 | // get current hight |
1183 | // get current hight |
| 1160 | h = ReadingHeight; |
1184 | h = ReadingHeight; |
| 1161 | // if current hight is above the setpoint reduce thrust |
1185 | // if current hight is above the setpoint reduce thrust |
| 1162 | if((h > SetPointHeight) && HeightControlActive) |
1186 | if((h > SetPointHeight) && HeightControlActive) |
| 1163 | { |
1187 | { |
| 1164 | // hight difference -> P control part |
1188 | // hight difference -> P control part |