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| Rev | Author | Line No. | Line |
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| 1471 | Nick666 | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | |||
| 5 | #ifndef _FC_H |
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| 6 | #define _FC_H |
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| 7 | |||
| 8 | #include <inttypes.h> |
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| 9 | |||
| 10 | // scaling from AdAccNick, AdAccRoll -> AccNick, AccRoll |
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| 11 | // i.e. AccNick = ACC_AMPLIFY * AdAccNick |
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| 12 | #define ACC_AMPLIFY 6 |
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| 13 | |||
| 14 | // scaling from AccNick, AccRoll -> Attitude in deg (approx sin(x) = x), |
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| 15 | // i.e. Nick Angle in deg = AccNick / ACC_DEG_FACTOR |
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| 16 | |||
| 17 | // the value is derived from the datasheet of the ACC sensor where 5g are scaled to vref |
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| 18 | // therefore 1g is 1024/5 = 205 counts. the adc isr combines 2 acc samples to AdValueAcc |
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| 19 | // and 1g yields to AdValueAcc = 2* 205 * 410 wich is again scaled by ACC_DEG_FACTOR |
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| 20 | // that results in 1g --> Acc = 205 * 12 = 2460. the linear approx of the arcsin and the scaling |
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| 21 | // of Acc gives the factor below. sin(20deg) * 2460 = 841 --> 841 / 20 = 42 |
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| 22 | #define ACC_DEG_FACTOR 42 |
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| 23 | |||
| 24 | // scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg |
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| 25 | // i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR |
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| 26 | #define GYRO_DEG_FACTOR ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR) |
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| 27 | |||
| 28 | |||
| 29 | extern uint8_t RequiredMotors; |
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| 30 | |||
| 31 | typedef struct |
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| 32 | { |
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| 33 | uint8_t HeightD; |
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| 34 | uint8_t MaxHeight; |
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| 35 | uint8_t HeightP; |
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| 36 | uint8_t Height_ACC_Effect; |
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| 37 | uint8_t CompassYawEffect; |
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| 38 | uint8_t GyroD; |
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| 39 | uint8_t GyroP; |
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| 40 | uint8_t GyroI; |
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| 41 | uint8_t StickYawP; |
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| 42 | uint8_t IFactor; |
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| 43 | uint8_t UserParam1; |
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| 44 | uint8_t UserParam2; |
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| 45 | uint8_t UserParam3; |
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| 46 | uint8_t UserParam4; |
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| 47 | uint8_t UserParam5; |
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| 48 | uint8_t UserParam6; |
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| 49 | uint8_t UserParam7; |
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| 50 | uint8_t UserParam8; |
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| 51 | uint8_t ServoNickControl; |
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| 52 | uint8_t LoopGasLimit; |
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| 53 | uint8_t AxisCoupling1; |
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| 54 | uint8_t AxisCoupling2; |
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| 55 | uint8_t AxisCouplingYawCorrection; |
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| 56 | uint8_t DynamicStability; |
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| 57 | uint8_t ExternalControl; |
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| 58 | uint8_t J16Timing; |
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| 59 | uint8_t J17Timing; |
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| 60 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
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| 61 | uint8_t NaviGpsModeControl; |
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| 62 | uint8_t NaviGpsGain; |
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| 63 | uint8_t NaviGpsP; |
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| 64 | uint8_t NaviGpsI; |
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| 65 | uint8_t NaviGpsD; |
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| 66 | uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
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| 67 | uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
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| 68 | #endif |
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| 69 | int8_t KalmanK; |
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| 70 | int8_t KalmanMaxDrift; |
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| 71 | int8_t KalmanMaxFusion; |
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| 72 | } fc_param_t; |
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| 73 | |||
| 74 | extern fc_param_t FCParam; |
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| 75 | |||
| 76 | |||
| 77 | // rotation rates |
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| 78 | extern int16_t GyroNick, GyroRoll, GyroYaw; |
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| 79 | |||
| 80 | // attitude calcualted by temporal integral of gyro rates |
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| 81 | extern int32_t IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw; |
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| 82 | |||
| 83 | |||
| 84 | // bias values |
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| 85 | extern int16_t BiasHiResGyroNick, BiasHiResGyroRoll, AdBiasGyroYaw; |
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| 86 | extern int16_t AdBiasAccNick, AdBiasAccRoll; |
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| 87 | extern volatile float AdBiasAccTop; |
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| 88 | |||
| 89 | extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
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| 90 | |||
| 91 | // compass navigation |
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| 92 | extern int16_t CompassHeading; |
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| 93 | extern int16_t CompassCourse; |
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| 94 | extern int16_t CompassOffCourse; |
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| 95 | extern uint8_t CompassCalState; |
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| 96 | extern int32_t YawGyroHeading; |
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| 97 | extern int16_t YawGyroHeadingInDeg; |
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| 98 | |||
| 99 | // hight control |
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| 100 | extern int ReadingHeight; |
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| 101 | extern int SetPointHeight; |
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| 102 | |||
| 103 | // accelerations |
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| 104 | extern int16_t AccNick, AccRoll, AccTop; |
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| 105 | |||
| 106 | // acceleration send to navi board |
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| 107 | extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
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| 108 | |||
| 109 | |||
| 110 | // looping params |
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| 111 | extern long TurnOver180Nick, TurnOver180Roll; |
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| 112 | |||
| 113 | // external control |
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| 114 | extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
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| 115 | |||
| 116 | #define ACC_CALIB 1 |
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| 117 | #define NO_ACC_CALIB 0 |
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| 118 | |||
| 119 | void MotorControl(void); |
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| 120 | void SendMotorData(void); |
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| 121 | void SetNeutral(uint8_t AccAdjustment); |
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| 122 | void Beep(uint8_t numbeeps); |
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| 123 | |||
| 124 | |||
| 125 | extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
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| 126 | |||
| 127 | // current stick values |
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| 128 | extern int16_t StickNick; |
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| 129 | extern int16_t StickRoll; |
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| 130 | extern int16_t StickYaw; |
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| 131 | // current GPS-stick values |
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| 132 | extern int16_t GPSStickNick; |
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| 133 | extern int16_t GPSStickRoll; |
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| 134 | |||
| 135 | // current stick elongations |
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| 136 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
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| 137 | |||
| 138 | |||
| 139 | extern uint16_t ModelIsFlying; |
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| 140 | |||
| 141 | |||
| 142 | // MKFlags |
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| 143 | #define MKFLAG_MOTOR_RUN 0x01 |
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| 144 | #define MKFLAG_FLY 0x02 |
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| 145 | #define MKFLAG_CALIBRATE 0x04 |
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| 146 | #define MKFLAG_START 0x08 |
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| 147 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
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| 148 | #define MKFLAG_RESERVE1 0x20 |
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| 149 | #define MKFLAG_RESERVE2 0x40 |
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| 150 | #define MKFLAG_RESERVE3 0x80 |
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| 151 | |||
| 152 | extern volatile uint8_t MKFlags; |
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| 153 | |||
| 154 | #endif //_FC_H |
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| 155 |