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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2105 | - | 1 | #include "main.h" |
| 2 | #include "flightcontrol.h" |
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| 3 | |||
| 4 | int reference_altitude; //Regelgröße |
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| 5 | int reference_accz; //Regelgröße D-Anteil |
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| 6 | int reference_flow_x; |
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| 7 | int reference_flow_y; |
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| 8 | |||
| 9 | int altitude_differenz; //Regelabweichung |
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| 10 | int altitude_differenz_sum = 0; //I-Glied |
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| 11 | int xDirection_differenz_sum = 0; |
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| 12 | int yDirection_differenz_sum = 0; |
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| 13 | |||
| 14 | int altitude_old; |
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| 15 | int altitude_velocity; |
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| 16 | int xDirection_old; |
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| 17 | int xDirection_velocity; |
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| 18 | int yDirection_old; |
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| 19 | int yDirection_velocity; |
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| 20 | |||
| 21 | float gas_correction_dpart; |
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| 22 | float gas_correction_ipart = 0.0; |
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| 23 | float gas_correction_ppart; |
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| 24 | float gas_correction_final; |
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| 25 | float nick_correction_dpart; |
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| 26 | float nick_correction_ipart = 0.0; |
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| 27 | float nick_correction_ppart; |
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| 28 | float nick_correction_final; |
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| 29 | float roll_correction_dpart; |
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| 30 | float roll_correction_ipart = 0.0; |
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| 31 | float roll_correction_ppart; |
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| 32 | float roll_correction_final; |
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| 33 | |||
| 34 | float pFactorGas = 0.3; //Verstärkungsfaktor P |
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| 35 | float iFactorGas = 0.02; //Verstärkungsfaktor I |
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| 36 | float dFactorGas = 0.3; //Verstärkungsfaktor D |
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| 37 | float pFactorNick = 0.2; //Verstärkungsfaktor P |
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| 38 | float iFactorNick = 0.02; //Verstärkungsfaktor I |
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| 39 | float dFactorNick = 0.3; //Verstärkungsfaktor D |
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| 40 | float pFactorRoll = 0.2; //Verstärkungsfaktor P |
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| 41 | float iFactorRoll = 0.02; //Verstärkungsfaktor I |
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| 42 | float dFactorRoll = 0.3; //Verstärkungsfaktor D |
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| 43 | |||
| 44 | //>> Performing Flight Correction |
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| 45 | //------------------------------------------------------------------------------------------------------ |
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| 46 | void perform_flight_correction(){ |
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| 47 | reference_altitude = (int)(optical_flow_values.ground_distance*1000); //Regelgröße in mm |
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| 48 | reference_flow_x += (int)(optical_flow_values.flow_comp_m_x*1000); |
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| 49 | reference_flow_y += (int)(optical_flow_values.flow_comp_m_y*1000); |
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| 50 | altitude_differenz = STARTING_ALTITUDE - reference_altitude; //Regelabweichung in mm |
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| 51 | |||
| 52 | if(reference_altitude != altitude_old){ |
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| 53 | altitude_velocity = (reference_altitude - altitude_old) / 0.1; |
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| 54 | } |
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| 55 | if(reference_flow_x != xDirection_old){ |
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| 56 | xDirection_velocity = (reference_flow_x - xDirection_old) / 0.1; |
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| 57 | } |
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| 58 | if(reference_flow_y != yDirection_old){ |
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| 59 | yDirection_velocity = (reference_flow_y - yDirection_old) / 0.1; |
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| 60 | } |
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| 61 | |||
| 62 | if(altitude_differenz_sum < 10000 && altitude_differenz_sum > -10000){ |
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| 63 | altitude_differenz_sum += altitude_differenz * 0.1; |
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| 64 | if(altitude_differenz_sum > 9999){altitude_differenz_sum = 9999;}else |
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| 65 | if(altitude_differenz_sum < -9999){altitude_differenz_sum = -9999;} |
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| 66 | } |
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| 67 | if(xDirection_differenz_sum < 1000 && xDirection_differenz_sum > -1000){ |
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| 68 | xDirection_differenz_sum += reference_flow_x; |
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| 69 | if(xDirection_differenz_sum > 9999){xDirection_differenz_sum = 9999;}else |
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| 70 | if(xDirection_differenz_sum < -9999){xDirection_differenz_sum = -9999;} |
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| 71 | } |
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| 72 | if(yDirection_differenz_sum < 1000 && yDirection_differenz_sum > -1000){ |
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| 73 | yDirection_differenz_sum += reference_flow_y; |
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| 74 | if(yDirection_differenz_sum > 9999){yDirection_differenz_sum = 9999;}else |
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| 75 | if(yDirection_differenz_sum < -9999){yDirection_differenz_sum = -9999;} |
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| 76 | } |
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| 77 | |||
| 78 | ////////////////////////////////////////////////////////////////////////// |
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| 79 | // PID Regelung Gas |
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| 80 | gas_correction_ipart = iFactorGas * altitude_differenz_sum; |
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| 81 | gas_correction_dpart = dFactorGas * altitude_velocity *-1; |
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| 82 | gas_correction_ppart = pFactorGas * altitude_differenz; |
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| 83 | |||
| 84 | gas_correction_final = (gas_correction_ppart + gas_correction_dpart + gas_correction_ipart) / 10; |
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| 85 | ////////////////////////////////////////////////////////////////////////// |
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| 86 | ////////////////////////////////////////////////////////////////////////// |
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| 87 | // PID Regelung Nick |
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| 88 | nick_correction_ipart = iFactorNick * yDirection_differenz_sum; |
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| 89 | nick_correction_dpart = dFactorNick * yDirection_velocity; |
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| 90 | nick_correction_ppart = pFactorNick * reference_flow_y; |
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| 91 | |||
| 92 | nick_correction_final = (nick_correction_ppart + nick_correction_dpart + nick_correction_ipart) / -10; |
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| 93 | ////////////////////////////////////////////////////////////////////////// |
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| 94 | ////////////////////////////////////////////////////////////////////////// |
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| 95 | // PID Regelung Roll |
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| 96 | roll_correction_ipart = iFactorRoll * xDirection_differenz_sum; |
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| 97 | roll_correction_dpart = dFactorRoll * xDirection_velocity; |
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| 98 | roll_correction_ppart = pFactorRoll * reference_flow_x; |
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| 99 | |||
| 100 | roll_correction_final = (roll_correction_ppart + roll_correction_dpart + roll_correction_ipart) / -10; |
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| 101 | ////////////////////////////////////////////////////////////////////////// |
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| 102 | //printf("Final: %f PPART: %f DPART: %f\n", nick_correction_final, nick_correction_ppart, nick_correction_dpart); |
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| 103 | |||
| 104 | ////////////////////////////////////////////////////////////////////////// |
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| 105 | // Set Limits |
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| 106 | if(gas_correction_final >= 20){ |
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| 107 | fc_correction_data.Gas = 20; |
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| 108 | }else if(gas_correction_final <= -20){ |
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| 109 | fc_correction_data.Gas = -20; |
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| 110 | }else{ |
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| 111 | fc_correction_data.Gas = gas_correction_final; |
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| 112 | } |
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| 113 | if(nick_correction_final >= 20){ |
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| 114 | fc_correction_data.Nick = 20; |
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| 115 | }else if(nick_correction_final <= -20){ |
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| 116 | fc_correction_data.Nick = -20; |
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| 117 | }else{ |
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| 118 | fc_correction_data.Nick = nick_correction_final; |
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| 119 | } |
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| 120 | if(roll_correction_final >= 20){ |
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| 121 | fc_correction_data.Roll = 20; |
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| 122 | }else if(roll_correction_final <= -20){ |
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| 123 | fc_correction_data.Roll = -20; |
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| 124 | }else{ |
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| 125 | fc_correction_data.Roll = roll_correction_final; |
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| 126 | } |
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| 127 | |||
| 128 | //printf("%d\n", reference_altitude/10); |
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| 129 | printf("Final: %f PPART: %f DPART: %f IPART: %f Gas Correction: %d\n", gas_correction_final, gas_correction_ppart, gas_correction_dpart, gas_correction_ipart, fc_correction_data.Gas ); |
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| 130 | //printf("Final: %f PPART: %f DPART: %f IPART: %f Gas Correction: %d\n", nick_correction_final, nick_correction_ppart, nick_correction_dpart, nick_correction_ipart, fc_correction_data.Nick ); |
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| 131 | fc_correction_data.Gas = 0; |
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| 132 | //fc_correction_data.Roll = 0; |
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| 133 | //fc_correction_data.Nick = 0; |
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| 134 | |||
| 135 | |||
| 136 | altitude_old = reference_altitude; |
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| 137 | xDirection_old = reference_flow_x; |
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| 138 | yDirection_old = reference_flow_y; |
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| 139 | } |
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| 140 | |||
| 141 | //>> Transmitting Correction Data |
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| 142 | //------------------------------------------------------------------------------------------------------ |
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| 143 | u8 *flight_values_stream; |
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| 144 | serial_data_struct data_package_flightcontrol; |
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| 145 | void transmit_flight_data(){ |
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| 146 | flight_values_stream = (unsigned char *) &fc_correction_data; |
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| 147 | //printf("Correction: %d\n", fc_correction_data.Gas); |
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| 148 | for (int i = 0; i < sizeof(struct str_fc_correction_data); ++i) |
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| 149 | { |
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| 150 | data_package_flightcontrol.data[i] = flight_values_stream[i]; |
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| 151 | } |
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| 152 | create_serial_frame(1, 'b', sizeof(struct str_fc_correction_data), &data_package_flightcontrol); |
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| 153 | //printf("%s\n", data_package_flightcontrol.txrxdata); |
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| 154 | transmit_data(TO_KOPTER, &data_package_flightcontrol); |
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| 155 | } |
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| 156 | |||
| 157 | //>> Resetting Flow and Altitude Values |
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| 158 | //------------------------------------------------------------------------------------------------------ |
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| 159 | void reset_reference_values(){ |
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| 160 | reference_flow_x = 0.0; |
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| 161 | reference_flow_y = 0.0; |
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| 162 | reference_altitude = 0.0; |
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| 163 | } |
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| 164 | |||
| 165 | //>> Initializing flightcontrol |
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| 166 | //------------------------------------------------------------------------------------------------------ |
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| 167 | void flightcontrol_init(){ |
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| 168 | fc_correction_data.Nick = 0; |
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| 169 | fc_correction_data.Roll = 0; |
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| 170 | fc_correction_data.Gier = 0; |
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| 171 | fc_correction_data.Gas = 0; |
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| 172 | fc_correction_data.Config = EC_VALID | EC_GAS_ADD | EC_IGNORE_RC; //Ignore Remote Control |
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| 173 | } |