Rev 1623 |
Blame |
Last modification |
View Log
| RSS feed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/*
OBSOLETED BY controlMixer.c. But this is how it looked - maybe somebody will find it simpler?
#include <stdlib.h>
#include "control.h"
#include "rc.h"
#include "configuration.h"
#include "attitude.h"
#include "eeprom.h"
#include "flight.h"
#define RCChannel(dimension) (PPM_in[staticParams.ChannelAssignment[dimension]])
uint16_t maxStickPitch = 0, maxStickRoll = 0;
int16_t stickPitch = 0, stickRoll = 0, stickYaw = 0, stickThrottle = 0;
int16_t GPSStickPitch = 0, GPSStickRoll = 0;
int16_t externalStickPitch = 0, externalStickRoll = 0, externalStickYaw = 0, externalHeightValue = -20;
// dongfang's own experiment: Cablibrated sticks.
int16_t stickOffsetPitch = 0, stickOffsetRoll = 0;
// Looping-or-not flags.
uint8_t loopingPitch = 0, loopingRoll = 0;
uint8_t loopingLeft = 0, loopingRight = 0, loopingDown = 0, loopingTop = 0;
// Internal variables for reading commands made with an R/S stick.
uint8_t lastStickCommand = STICK_COMMAND_UNDEF;
uint8_t stickCommandTimer = 0;
ExternalControl_t externalControl;
/ *
* Stick diagram:
* 2--3--4
* | | +
* 1 9 5 ^ 0
* | | |
* 8--7--6
*
* + <--
* 0
*
* Not in any of these positions: 0
* /
/ *
* The stick most be further from center than this to indicate a settings number (1-5).
* /
#define STICK_SETTINGSELECTION_THRESHOLD 70
uint8_t control_getLeftRCStickIndex(int16_t thresholdThrottle, int16_t thresholdYaw) {
if(RCChannel(CH_THROTTLE) > thresholdThrottle) {
// throttle is up
if(RCChannel(CH_YAW) > thresholdYaw)
return STICK_COMMAND_GYROCAL;
if(RCChannel(CH_YAW) < -thresholdYaw)
return STICK_COMMAND_ACCCAL;
return STICK_COMMAND_UNDEF;
} else if(RCChannel(CH_THROTTLE) < -thresholdThrottle) {
// pitch is down
if(RCChannel(CH_YAW) > thresholdYaw)
return STICK_COMMAND_STOP;
if(RCChannel(CH_YAW) < -thresholdYaw)
return STICK_COMMAND_START;
return STICK_COMMAND_UNDEF;
} else {
// pitch is around center
return STICK_COMMAND_UNDEF;
}
}
uint8_t control_getRightRCStickIndex(void) {
if(RCChannel(CH_PITCH) > STICK_SETTINGSELECTION_THRESHOLD) {
// pitch is up
if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD)
return 2;
if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD)
return 4;
return 3;
} else if(RCChannel(CH_PITCH) < -STICK_SETTINGSELECTION_THRESHOLD) {
// pitch is down
if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD)
return 8;
if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD)
return 6;
return 7;
} else {
// pitch is around center
if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD)
return 1;
if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD)
return 5;
return 9;
}
}
/ *
* This could be expanded to take calibrate / start / stop commands from ohter sources
* than the R/C (read: Custom MK R/C project)
* /
void control_senseStickCommands(void) {
uint8_t stickCommandNow = control_getLeftRCStickIndex(85, 85);
if (stickCommandNow != lastStickCommand) {
lastStickCommand = stickCommandNow;
stickCommandTimer = 0;
} else {
if (stickCommandTimer < 201)
stickCommandTimer++;
}
}
/ *
* This could be expanded to take calibrate / start / stop commands from ohter sources
* than the R/C (read: Custom MK R/C project)
* /
uint8_t control_getStickCommand(void) {
// If the same command was made 200 times, it's stable.
if (stickCommandTimer >= 200) {
return lastStickCommand;
}
return STICK_COMMAND_UNDEF;
}
uint8_t control_isStickCommandRepeated(void) {
return stickCommandTimer > 200 ? 1 : 0;
}
/ *
* To be fired only when the right stick is in the center position.
* This will cause the value of pitch and roll stick to be adjusted
* to zero (not just to near zero, as per the assumption in rc.c
* about the rc signal. I had values about 50..70 with a Futaba
* R617 receiver.) This calibration is not strictly necessary, but
* for control logic that depends on the exact (non)center position
* of a stick, it may be useful.
* /
void control_setNeutral(void) {
stickOffsetPitch += stickPitch;
stickOffsetRoll += stickRoll;
}
/ *
* Set the potientiometer values to the values of the respective R/C channel
* right now. No slew rate limit.
* /
void control_initPots(void) {
uint8_t i;
for (i=0; i<4; i++) {
pots[i] = RCChannel(CH_POTS + i) + POT_OFFSET;
}
for (i=4; i<8; i++) {
pots[i] = PPM_in[9 + (i-4)] + POT_OFFSET;
}
}
/ *
* Update potentiometer values with slow slew rate. Could be made faster if desired.
* /
void control_updatePots(void) {
uint8_t i;
uint16_t targetvalue;
for (i=0; i<8; i++) {
if (i<4) // configured pots
targetvalue = RCChannel(CH_POTS + i) + POT_OFFSET;
else // PPM24-Extension
targetvalue = PPM_in[9 + i] + POT_OFFSET;
if (targetvalue < 0) targetvalue = 0;
if (pots[i] < targetvalue && pots[i] < 255) pots[i]++; else if(pots[i] > 0 && pots[i] > targetvalue) pots[i]--;
}
}
/ *
* Update the variables indicating stick position from the sum of R/C, GPS and external control.
* /
void control_update(void) {
// calculate Stick inputs by rc channels (P) and changing of rc channels (D)
stickPitch = RCChannel(CH_PITCH) * staticParams.StickP;
// (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4;
stickPitch += PPM_diff[staticParams.ChannelAssignment[CH_PITCH]] * staticParams.StickD;
stickPitch = stickPitch - stickOffsetPitch - GPSStickPitch;
stickRoll = RCChannel(CH_ROLL) * staticParams.StickP;
// stick_roll = (stick_roll * 3 + RCChannel(CH_ROLL) * staticParams.StickP) / 4;
stickRoll += PPM_diff[staticParams.ChannelAssignment[CH_ROLL]] * staticParams.StickD;
stickRoll = stickRoll - stickOffsetRoll - GPSStickRoll;
// mapping of yaw
stickYaw = -RCChannel(CH_YAW);
// (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction)
if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) {
if (stickYaw > 2) stickYaw-= 2;
else if (stickYaw< -2) stickYaw += 2;
else stickYaw = 0;
}
// mapping of gas
stickThrottle = RCChannel(CH_THROTTLE) + 120;// shift to positive numbers
if(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128) {
stickPitch += (int16_t) externalControl.pitch * (int16_t) staticParams.StickP;
stickRoll += (int16_t) externalControl.roll * (int16_t) staticParams.StickP;
stickYaw += externalControl.yaw;
// ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)staticParams.Height_Gain;
// Dubious: Lowest throttle setting has precedence.
if(externalControl.throttle < stickThrottle) stickThrottle = externalControl.throttle;
}
if(stickThrottle < 0) stickThrottle = 0;
if(abs(stickPitch / CONTROL_SCALING) > maxStickPitch) {
maxStickPitch = abs(stickPitch) / CONTROL_SCALING;
if(maxStickPitch > 100) maxStickPitch = 100;
}
else if (maxStickPitch) maxStickPitch--;
if(abs(stickRoll / CONTROL_SCALING) > maxStickRoll) {
maxStickRoll = abs(stickRoll) / CONTROL_SCALING;
if(maxStickRoll > 100) maxStickRoll = 100;
}
else if (maxStickRoll) maxStickRoll--;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping? Do not consider external or GPS input for this :)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if((RCChannel(CH_ROLL) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_LEFT) loopingLeft = 1;
else {
if(loopingLeft) { // Hysteresis
if((RCChannel(CH_ROLL) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingLeft = 0;
}
}
if((RCChannel(CH_ROLL) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_RIGHT) loopingRight = 1;
else {
if(loopingRight) { // Hysteresis
if(RCChannel(CH_ROLL) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingRight = 0;
}
}
if((RCChannel(CH_PITCH) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_UP) loopingTop = 1;
else {
if(loopingTop) { // Hysteresis
if((RCChannel(CH_PITCH) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingTop = 0;
}
}
if((RCChannel(CH_PITCH) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_DOWN) loopingDown = 1;
else {
if(loopingDown) { // Hysteresis
if(RCChannel(CH_PITCH) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingDown = 0;
}
}
if(loopingLeft || loopingRight) loopingRoll = 1; else loopingRoll = 0;
if(loopingTop || loopingDown) { loopingPitch = 1; loopingRoll = 0; loopingLeft = 0; loopingRight = 0;} else loopingPitch = 0;
}
void setCompassCalState(void) {
static uint8_t stick = 1;
// if pitch is centered or top set stick to zero
if(RCChannel(CH_PITCH) > -20) stick = 0;
// if pitch is down trigger to next cal state
if((RCChannel(CH_PITCH) < -70) && !stick) {
stick = 1;
compassCalState++;
if(compassCalState < 5) beepNumber(compassCalState);
else beep(1000);
}
}
/ *
*
* /
uint8_t control_hasNewRCData(void) {
// return !NewPpmData--;
return (NewPpmData-- == 0) ? 1 : 0;
}
void control_performPilotCalibrationCommands(uint8_t stickCommand) {
if (stickCommand == STICK_COMMAND_GYROCAL && !control_isStickCommandRepeated()) {
// Run gyro calibration but do not repeat it.
GRN_OFF;
// TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough?
// isFlying = 0;
// check roll/pitch stick position
// if pitch stick is top or roll stick is left or right --> change parameter setting
// according to roll/pitch stick position
uint8_t setting = control_getRightRCStickIndex();
if ((setting > 0 && setting < 6) || setting == 9) {
// Gyro calinbration, with or without selecting a new parameter-set.
if(setting > 0 && setting < 6) {
// A valid parameter-set (1..5) was chosen - use it.
setActiveParamSet(setting);
}
ParamSet_ReadFromEEProm(getActiveParamSet());
attitude_setNeutral();
flight_setNeutral();
if (setting == 9) { // Right stick is centered; calibrate it to zero (hmm strictly does not belong here).
control_setNeutral(); // Calibrate right stick neutral position.
}
beepNumber(getActiveParamSet());
} else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && setting == 7) {
// If right stick is centered and down
compassCalState = 1;
beep(1000);
}
}
// save the ACC neutral setting to eeprom
else {
if(stickCommand == STICK_COMMAND_ACCCAL && !control_isStickCommandRepeated()) {
// Run gyro and acc. meter calibration but do not repeat it.
GRN_OFF;
analog_calibrateAcc();
attitude_setNeutral();
flight_setNeutral();
control_setNeutral(); // Calibrate right stick neutral position.
beepNumber(getActiveParamSet());
}
}
} // end !MOTOR_RUN condition.
/*