WebSVN - FlightCtrl - Diff - Rev 2164 and 2189 - /branches/dongfang_FC

 #include <util/delay.h>
 #include <stddef.h>
 #include <string.h>
 #include "configuration.h"
 #include "sensors.h"
 #include "rc.h"
 #include "output.h"
 #include "flight.h"
+#include "debug.h"
 int16_t variables[VARIABLE_COUNT];
 ParamSet_t staticParams;
 ChannelMap_t channelMap;
-MotorMixer_t motorMixer;
+OutputMixer_t outputMixer;
 IMUConfig_t IMUConfig;
 volatile DynamicParams_t dynamicParams;
 uint8_t CPUType;
 uint8_t boardRelease;
-uint8_t requiredMotors;
 VersionInfo_t versionInfo;
 // MK flags. TODO: Replace by enum. State machine.
-uint16_t isFlying = 0;
+uint16_t isFlying;
-volatile uint8_t MKFlags = 0;
+volatile uint8_t MKFlags;
+const MMXLATION XLATIONS[] = {
+{offsetof(ParamSet_t, flightMode), offsetof(DynamicParams_t, flightMode),0,255},
 const MMXLATION XLATIONS[] = {
 {offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},
+{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},
-{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},
+{offsetof(ParamSet_t, attGyroP), offsetof(DynamicParams_t, attGyroP),0,250},
+{offsetof(ParamSet_t, attGyroI), offsetof(DynamicParams_t, attGyroI),0,250},
+{offsetof(ParamSet_t, attGyroD), offsetof(DynamicParams_t, attGyroD),0,250},
+{offsetof(ParamSet_t, rateGyroP), offsetof(DynamicParams_t, rateGyroP),0,250},
+{offsetof(ParamSet_t, rateGyroI), offsetof(DynamicParams_t, rateGyroI),0,250},
+{offsetof(ParamSet_t, rateGyroD), offsetof(DynamicParams_t, rateGyroD),0,250},
-{offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255},
+{offsetof(ParamSet_t, yawGyroP), offsetof(DynamicParams_t, yawGyroP),0,250},
-{offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255},
+{offsetof(ParamSet_t, yawGyroI), offsetof(DynamicParams_t, yawGyroI),0,250},
+{offsetof(ParamSet_t, yawGyroD), offsetof(DynamicParams_t, yawGyroD),0,250},
 {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255},
 {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},
-{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
-{offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255},
+{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
 {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255},
 {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255},
 {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255},
 {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255},
 {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
 {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
 {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
 {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
 {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}};
 uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
   uint8_t result;
   if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
   else result = src;
   if (result < min) result = min;
   else if (result > max) result = max;
   return result;
+}
+void configuration_fixVariableParams(uint8_t variableNumber) {
+  // If variable value is to great, limit it.
+  uint8_t value = variables[variableNumber];
+  if (value >= 256-VARIABLE_COUNT)
+    value = 256-VARIABLE_COUNT - 1;
+  for (uint8_t i=0; i<sizeof(DynamicParams_t); i++) {
+    uint8_t* pointerToParam =(uint8_t*)(&dynamicParams + i);
+    if (*pointerToParam == 256-VARIABLE_COUNT + variableNumber) {
+       *pointerToParam = value;
+    }
+  }
+}
 void configuration_applyVariablesToParams(void) {
   uint8_t i, src;
   uint8_t* pointerToTgt;
   for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
     src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);
     pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
     *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
+  }
   // User parameters are always variable.
   for (i=0; i<sizeof(staticParams.userParams); i++) {
     src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
     pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
     *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
+  }
+}
 void setCPUType(void) {   // works only after reset or power on when the registers have default values
 #if (MCU_TYPE==atmega644)
         CPUType=ATMEGA644;
 #else
   if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
   else CPUType = ATMEGA644;
 #endif
+}
 /*
  * Automatic detection of hardware components is not supported in this development-oriented
  * FC firmware. It would go against the point of it: To enable alternative hardware
  * configurations with otherwise unsupported components. Instead, one should write
  * custom code + adjust constants for the new hardware, and include the relevant code
  * from the makefile.
  * However - we still do detect the board release. Reason: Otherwise it would be too
  * tedious to have to modify the code for how to turn on and off LEDs when deploying
  * on different HW version....
  */
 void setBoardRelease(void) {
   // the board release is coded via the pull up or down the 2 status LED
   PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
   DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
   _delay_loop_2(1000); // make some delay
   switch( PINB & ((1<<PINB1)|(1<<PINB0))) {
     case 0x00:
       boardRelease = 10; // 1.0
       break;
     case 0x01:
       boardRelease = 11; // 1.1 or 1.2
       break;
     case 0x02:
       boardRelease = 20; // 2.0
       break;
     case 0x03:
       boardRelease = 13; // 1.3
       break;
     default:
       break;
+    }
   // set LED ports as output
   DDRB |= (1<<DDB1)|(1<<DDB0);
   RED_OFF;
   GRN_OFF;
+}
+void configuration_setNormalFlightMode(void) {
+  FlightMode_t flight_flightMode;
+  if (dynamicParams.flightMode < 255/3)
-void configuration_setNormalFlightParameters(void) {
+    flight_flightMode = FM_RETURN_TO_LEVEL;
-  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,
+  else if (dynamicParams.flightMode < 255*2/3)
+    flight_flightMode = FM_HEADING_HOLD;
+  else
+    flight_flightMode = FM_RATE;
-      staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI,
+  flight_setMode(flight_flightMode);
-      dynamicParams.gyroP, staticParams.yawIFactor);
+  debugOut.analog[20] = flight_flightMode;
 }
-void configuration_setFailsafeFlightParameters(void) {
+void configuration_setFailsafeFlightMode(void) {
-  flight_setParameters(0, 90, 120, 90, 120);
+  flight_setMode(FM_RETURN_TO_LEVEL);
+}
 // Called after a change in configuration parameters, as a hook for modules to take over changes.
 void configuration_paramSetDidChange(void) {
   // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
+  // No longer necessary.
-  configuration_setNormalFlightParameters();
+  // configuration_setNormalFlightMode();
+  flight_setParameters();
+  output_setParameters();
   // Immediately load changes to output, and also signal the paramset change.
   output_init();
+}
 void setOtherDefaults(void) {
   // Height Control
   staticParams.airpressureFilterConstant = 8;
-  //staticParams.airpressureWindowLength = 0;
+  staticParams.airpressureWindowLength = 8;
+  staticParams.airpressureDWindowLength = 24;
   staticParams.airpressureAccZCorrection = 128+56;
   staticParams.heightP = 10;
   staticParams.heightD = 30;
   staticParams.heightSetting = 251;
   staticParams.heightControlMaxThrottleChange = 10;
   // Control
+  staticParams.flightMode = 248;
   staticParams.stickP = 8;
-  staticParams.stickD = 12;
+  staticParams.stickD = 0;
-  staticParams.stickYawP = 12;
+  staticParams.stickYawP = 8;
-  staticParams.stickThrottleD = 12;
+  staticParams.stickThrottleD = 4;
   staticParams.minThrottle = 8;
   staticParams.maxThrottle = 230;
   staticParams.externalControl = 0;
   staticParams.attitudeControl = 0;
-  staticParams.motorSmoothing = 0;
+  staticParams.dynamicStability = 80; // 0 means: Regulation only by decreasing throttle. 200: Only by increasing.
-  staticParams.gyroP = 60;
-  staticParams.gyroI = 80;
-  staticParams.gyroD = 4;
-  // set by gyro-specific code: gyro_setDefaults().
+  staticParams.attGyroP = PID_NORMAL_VALUE;
-  // staticParams.zerothOrderCorrection =
+  staticParams.attGyroI = PID_NORMAL_VALUE;
+  staticParams.attGyroIMax = 0;
+  staticParams.attGyroD = PID_NORMAL_VALUE * 3/2;
+  staticParams.rateGyroP = PID_NORMAL_VALUE;
-  // staticParams.driftCompDivider =
+  staticParams.rateGyroI = PID_NORMAL_VALUE;
+  staticParams.rateGyroIMax = 0;
+  staticParams.rateGyroD = PID_NORMAL_VALUE;
+  staticParams.yawGyroP = PID_NORMAL_VALUE;
+  staticParams.yawGyroI = PID_NORMAL_VALUE;
-  // staticParams.driftCompLimit =
+  staticParams.yawGyroD = PID_NORMAL_VALUE;
-  staticParams.dynamicStability = 50;
   staticParams.IFactor = 52;
-  staticParams.yawIFactor = 100;
+  staticParams.compassMode = 0;
   staticParams.compassYawCorrection = 64;
+  staticParams.compassP = PID_NORMAL_VALUE;
-  staticParams.compassP = 50;
+  staticParams.levelCorrection[0] = 249; // var1
-  staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128;
+  staticParams.levelCorrection[1] = 250; // var2
   // Servos
-  staticParams.servoCount = 7;
+  staticParams.servoCount = 8;
   staticParams.servoManualMaxSpeed = 10;
   for (uint8_t i=0; i<2; i++) {
     staticParams.servoConfigurations[i].manualControl = 128;
-    staticParams.servoConfigurations[i].stabilizationFactor = 0;
+    staticParams.servoConfigurations[i].stabilizationFactor = 100;
-    staticParams.servoConfigurations[i].minValue = 32;
-    staticParams.servoConfigurations[i].maxValue = 224;
     staticParams.servoConfigurations[i].flags = 0;
+  }
   // Battery warning and emergency flight
   staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S
   staticParams.emergencyThrottle = 35;
   staticParams.emergencyFlightDuration = 30;
   // Outputs
   staticParams.outputFlash[0].bitmask = 1; //0b01011111;
   staticParams.outputFlash[0].timing = 15;
   staticParams.outputFlash[1].bitmask = 3; //0b11110011;
   staticParams.outputFlash[1].timing = 15;
-  staticParams.outputDebugMask = DEBUG_ACC0THORDER;
+  staticParams.outputDebugMask = DEBUG_INVERTED;
-  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
+  staticParams.outputFlags   = /* OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | */ OUTPUTFLAGS_USE_ONBOARD_LEDS;
-  staticParams.naviMode = 0; // free.
   staticParams.airpressureWindowLength = 0;
-  staticParams.airpressureDWindowLength = 24;
+  staticParams.naviMode = 0; // free.
   staticParams.heightControlMaxIntegralIn = 125;
   staticParams.heightControlMaxIntegralOut = 75;
   staticParams.heightControlMaxThrottleChange = 75;
   staticParams.heightControlTestOscPeriod = 0;
   staticParams.heightControlTestOscAmplitude = 0;
+}
 /***************************************************/
 /*    Default Values for parameter set 1           */
 /***************************************************/
 void paramSet_default(uint8_t setnumber) {
   setOtherDefaults();
   for (uint8_t i=0; i<8; i++) {
     staticParams.userParams[i] = i;
+  }
-  staticParams.bitConfig = CFG_GYRO_SATURATION_PREVENTION;
+  staticParams.bitConfig = 0;//CFG_GYRO_SATURATION_PREVENTION;
   memcpy(staticParams.name, "Default\0", 6);
+}
 void IMUConfig_default(void) {
   IMUConfig.gyroPIDFilterConstant = 1;
   IMUConfig.gyroDWindowLength = 3;
   // IMUConfig.gyroDFilterConstant = 1;
   IMUConfig.accFilterConstant = 10;
-  IMUConfig.rateTolerance = 120;
-  IMUConfig.gyroActivityDamping = 24;
   gyro_setDefaultParameters();
+}
 /***************************************************/
 /*    Default Values for Mixer Table               */
 /***************************************************/
-void motorMixer_default(void) { // Quadro
+void outputMixer_default(void) { // Quadro
   uint8_t i;
   // clear mixer table (but preset throttle)
-  for (i = 0; i < MAX_MOTORS; i++) {
+  for (i = 0; i < NUM_OUTPUTS; i++) {
-    motorMixer.matrix[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
+    outputMixer[i].flightControls[MIXER_SOURCE_THROTTLE] = i < 4 ? (1<<LOG_MOTOR_MIXER_UNIT) : 0;
-    motorMixer.matrix[i][MIX_PITCH] = 0;
+    outputMixer[i].flightControls[MIXER_SOURCE_PITCH] = 0;
-    motorMixer.matrix[i][MIX_ROLL] = 0;
+    outputMixer[i].flightControls[MIXER_SOURCE_ROLL] = 0;
-    motorMixer.matrix[i][MIX_YAW] = 0;
+    outputMixer[i].flightControls[MIXER_SOURCE_YAW] = 0;
-    motorMixer.matrix[i][MIX_OPPOSITE_MOTOR] = (uint8_t)-1;
+    outputMixer[i].oppositeMotor = (uint8_t)-1;
+    outputMixer[i].auxSource = (uint8_t)-1;
+    outputMixer[i].outputType = i < 4 ? OUTPUT_TYPE_MOTOR : OUTPUT_TYPE_UNDEFINED;
+    outputMixer[i].minValue = i < 4 ? 1   : 128;
+    outputMixer[i].maxValue = i < 4 ? 255 : 128;
+  }
-  /*
   // default = Quadro+
-  motorMixer.matrix[0][MIX_PITCH] = +64;
+  outputMixer[0].flightControls[MIXER_SOURCE_PITCH] = -(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[0][MIX_YAW] = +64;
+  outputMixer[0].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;
+  outputMixer[0].oppositeMotor = 1;
-  motorMixer.matrix[1][MIX_PITCH] = -64;
+  outputMixer[1].flightControls[MIXER_SOURCE_PITCH] = +(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[1][MIX_YAW] = +64;
+  outputMixer[1].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;
+  outputMixer[1].oppositeMotor = 0;
-  motorMixer.matrix[2][MIX_ROLL] = -64;
+  outputMixer[2].flightControls[MIXER_SOURCE_ROLL] = +(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[2][MIX_YAW] = -64;
+  outputMixer[2].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;
+  outputMixer[2].oppositeMotor = 3;
-  motorMixer.matrix[3][MIX_ROLL] = +64;
+  outputMixer[3].flightControls[MIXER_SOURCE_ROLL] = -(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[3][MIX_YAW] = -64;
+  outputMixer[3].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);
-  motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;
+  outputMixer[3].oppositeMotor = 2;
+  outputMixer[8].outputType = OUTPUT_TYPE_SERVO;
+  outputMixer[8].auxSource = MIXER_SOURCE_AUX_RCCHANNEL;
+  outputMixer[8].minValue = 40;
-  memcpy(motorMixer.name, "Quadro +\0", 9);
+  outputMixer[8].maxValue = 256-40;
-  */
+  outputMixer[9].outputType = OUTPUT_TYPE_SERVO;
+  outputMixer[9].auxSource = MIXER_SOURCE_AUX_RCCHANNEL+1;
+  outputMixer[9].minValue = 10;
+  outputMixer[9].maxValue = 256-10;
+  /*
-  // default = Quadro
+  // default = Quadro X
-  motorMixer.matrix[0][MIX_PITCH] = +64;
+  motorMixer.matrix[0][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[0][MIX_ROLL] = +64;
+  motorMixer.matrix[0][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[0][MIX_YAW] = +64;
+  motorMixer.matrix[0][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);
   motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;
-  motorMixer.matrix[1][MIX_PITCH] = -64;
+  motorMixer.matrix[1][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[1][MIX_ROLL] = -64;
+  motorMixer.matrix[1][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[1][MIX_YAW] = +64;
+  motorMixer.matrix[1][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);
   motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;
-  motorMixer.matrix[2][MIX_PITCH] = +64;
+  motorMixer.matrix[2][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[2][MIX_ROLL] = -64;
+  motorMixer.matrix[2][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[2][MIX_YAW] = -64;
+  motorMixer.matrix[2][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);
   motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;
-  motorMixer.matrix[3][MIX_PITCH] = -64;
+  motorMixer.matrix[3][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[3][MIX_ROLL] = +64;
+  motorMixer.matrix[3][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);
-  motorMixer.matrix[3][MIX_YAW] = -64;
+  motorMixer.matrix[3][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);
   motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;
   memcpy(motorMixer.name, "Quadro X\0", 9);
+*/
+}
 /***************************************************/
 /*    Default Values for R/C Channels              */
 /***************************************************/
 void channelMap_default(void) {
   channelMap.RCPolarity = 0;
   channelMap.channels[CH_PITCH]    = 1;
   channelMap.channels[CH_ROLL]     = 0;
   channelMap.channels[CH_THROTTLE] = 2;
   channelMap.channels[CH_YAW]      = 3;
-  channelMap.channels[CH_POTS + 0] = 4;
+  channelMap.channels[CH_VARIABLES + 0] = 4;
-  channelMap.channels[CH_POTS + 1] = 5;
+  channelMap.channels[CH_VARIABLES + 1] = 5;
-  channelMap.channels[CH_POTS + 2] = 6;
+  channelMap.channels[CH_VARIABLES + 2] = 6;
-  channelMap.channels[CH_POTS + 3] = 7;
+  channelMap.channels[CH_VARIABLES + 3] = 7;
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.c - Rev 2164 → 2189