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1 ingob 1
/*#######################################################################################
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Flight Control
3
#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
2147 - 8
//ʲôÒÀÏ¡
1 ingob 9
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 10
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 14
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 17
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 18
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22
// + eindeutig als Ursprung verlinkt werden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 28
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 29
// + mit unserer Zustimmung zulässig
30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 killagreg 33
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 34
// + this list of conditions and the following disclaimer.
35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
683 killagreg 37
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 38
// +     for non-commercial use (directly or indirectly)
683 killagreg 39
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 40
// +     with our written permission
683 killagreg 41
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42
// +     clearly linked as origin
1 ingob 43
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
492 hbuss 51
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
683 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
687 killagreg 55
#include <stdlib.h>
56
#include <avr/io.h>
1 ingob 57
 
58
#include "main.h"
685 killagreg 59
#include "eeprom.h"
60
#include "timer0.h"
61
#include "_Settings.h"
62
#include "analog.h"
63
#include "fc.h"
64
#include "gps.h"
65
#include "uart.h"
66
#include "rc.h"
67
#include "twimaster.h"
754 killagreg 68
#ifdef USE_MM3
694 killagreg 69
#include "mm3.h"
754 killagreg 70
#endif
71
#ifdef USE_CMPS03
72
#include "cmps03.h"
73
#endif
762 killagreg 74
#include "led.h"
1 ingob 75
 
750 killagreg 76
volatile uint16_t I2CTimeout = 100;
703 killagreg 77
// gyro readings
711 killagreg 78
volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
703 killagreg 79
// gyro neutral readings
80
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
81
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
82
// mean accelerations
83
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
84
 
85
// neutral acceleration readings
86
volatile int16_t NeutralAccX=0, NeutralAccY=0;
1 ingob 87
volatile float NeutralAccZ = 0;
88
 
703 killagreg 89
// attitude gyro integrals
90
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
91
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
92
volatile int32_t IntegralYaw = 0;
711 killagreg 93
volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;
94
volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;
792 killagreg 95
volatile int32_t Reading_IntegralGyroYaw = 0;
711 killagreg 96
volatile int32_t MeanIntegralPitch;
97
volatile int32_t MeanIntegralRoll;
703 killagreg 98
 
99
// attitude acceleration integrals
750 killagreg 100
volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0;
703 killagreg 101
volatile int32_t Reading_Integral_Top = 0;
102
 
103
// compass course
754 killagreg 104
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
105
volatile int16_t CompassCourse = -1;
703 killagreg 106
volatile int16_t CompassOffCourse = 0;
107
 
108
// flags
109
uint8_t MotorsOn = 0;
733 killagreg 110
uint8_t EmergencyLanding = 0;
703 killagreg 111
 
112
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
113
 
706 killagreg 114
float Gyro_P_Factor;
115
float Gyro_I_Factor;
703 killagreg 116
 
117
volatile int16_t  DiffPitch, DiffRoll;
118
 
762 killagreg 119
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
703 killagreg 120
 
121
// setpoints for motors
898 pangu 122
volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
703 killagreg 123
 
124
// stick values derived by rc channels readings
707 killagreg 125
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
791 killagreg 126
int16_t MaxStickPitch = 0, MaxStickRoll = 0;
703 killagreg 127
// stick values derived by uart inputs
761 killagreg 128
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;
1 ingob 129
 
130
 
703 killagreg 131
 
711 killagreg 132
 
761 killagreg 133
int16_t ReadingHeight = 0;
134
int16_t SetPointHeight = 0;
703 killagreg 135
 
136
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
137
 
138
float Ki =  FACTOR_I;
139
 
140
uint8_t Looping_Pitch = 0, Looping_Roll = 0;
141
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
142
 
143
 
144
fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};
145
 
146
 
147
/************************************************************************/
148
/*  Creates numbeeps beeps at the speaker                               */
149
/************************************************************************/
150
void Beep(uint8_t numbeeps)
1 ingob 151
{
703 killagreg 152
        while(numbeeps--)
153
        {
154
                if(MotorsOn) return; //auf keinen Fall im Flug!
155
                BeepTime = 100; // 0.1 second
156
                Delay_ms(250); // blocks 250 ms as pause to next beep,
157
                // this will block the flight control loop,
158
                // therefore do not use this funktion if motors are running
159
        }
1 ingob 160
}
161
 
703 killagreg 162
/************************************************************************/
163
/*  Neutral Readings                                                    */
164
/************************************************************************/
1 ingob 165
void SetNeutral(void)
166
{
683 killagreg 167
        NeutralAccX = 0;
1 ingob 168
        NeutralAccY = 0;
169
        NeutralAccZ = 0;
701 killagreg 170
    AdNeutralPitch = 0;
683 killagreg 171
        AdNeutralRoll = 0;
701 killagreg 172
        AdNeutralYaw = 0;
706 killagreg 173
    FCParam.Yaw_PosFeedback = 0;
174
    FCParam.Yaw_NegFeedback = 0;
701 killagreg 175
    CalibMean();
395 hbuss 176
    Delay_ms_Mess(100);
701 killagreg 177
        CalibMean();
761 killagreg 178
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Height Control activated?
703 killagreg 179
    {
180
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
181
    }
182
        AdNeutralPitch = AdValueGyrPitch;
183
        AdNeutralRoll  = AdValueGyrRoll;
184
        AdNeutralYaw   = AdValueGyrYaw;
185
        StartNeutralRoll  = AdNeutralRoll;
186
        StartNeutralPitch = AdNeutralPitch;
750 killagreg 187
    if(GetParamWord(PID_ACC_PITCH) > 1023)
513 hbuss 188
    {
703 killagreg 189
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
190
                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
191
                NeutralAccZ = Current_AccZ;
513 hbuss 192
    }
683 killagreg 193
    else
703 killagreg 194
    {
195
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
196
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
197
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
513 hbuss 198
    }
711 killagreg 199
        Reading_IntegralGyroPitch = 0;
200
    Reading_IntegralGyroPitch2 = 0;
201
    Reading_IntegralGyroRoll = 0;
202
    Reading_IntegralGyroRoll2 = 0;
203
    Reading_IntegralGyroYaw = 0;
204
    Reading_GyroPitch = 0;
205
    Reading_GyroRoll = 0;
206
    Reading_GyroYaw = 0;
701 killagreg 207
    StartAirPressure = AirPressure;
761 killagreg 208
    HeightD = 0;
701 killagreg 209
    Reading_Integral_Top = 0;
210
    CompassCourse = CompassHeading;
683 killagreg 211
    BeepTime = 50;
703 killagreg 212
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
213
        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
761 killagreg 214
    ExternHeightValue = 0;
746 killagreg 215
    GPS_Neutral();
1 ingob 216
}
217
 
703 killagreg 218
/************************************************************************/
219
/*  Averaging Measurement Readings                                      */
220
/************************************************************************/
701 killagreg 221
void Mean(void)
683 killagreg 222
{
701 killagreg 223
    static int32_t tmpl,tmpl2;
401 hbuss 224
 
711 killagreg 225
 // Get offset corrected gyro readings (~ to angular velocity)
226
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
227
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
228
    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;
604 hbuss 229
 
711 killagreg 230
        DebugOut.Analog[26] = Reading_GyroPitch;
231
        DebugOut.Analog[28] = Reading_GyroRoll;
703 killagreg 232
 
233
// Acceleration Sensor
711 killagreg 234
        // sliding average sensor readings
703 killagreg 235
        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
236
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
237
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
238
 
711 killagreg 239
        // sum sensor readings for later averaging
701 killagreg 240
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
703 killagreg 241
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
242
 
243
// Yaw
711 killagreg 244
        // calculate yaw gyro intergral (~ to rotation angle)
245
    Reading_IntegralGyroYaw  += Reading_GyroYaw;
246
        // Coupling fraction
703 killagreg 247
        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
248
        {
711 killagreg 249
                tmpl = Reading_IntegralGyroPitch / 4096L;
250
                tmpl *= Reading_GyroYaw;
706 killagreg 251
                tmpl *= FCParam.Yaw_PosFeedback;  //125
703 killagreg 252
                tmpl /= 2048L;
711 killagreg 253
                tmpl2 = Reading_IntegralGyroRoll / 4096L;
254
                tmpl2 *= Reading_GyroYaw;
706 killagreg 255
                tmpl2 *= FCParam.Yaw_PosFeedback;
703 killagreg 256
                tmpl2 /= 2048L;
257
        }
258
        else  tmpl = tmpl2 = 0;
711 killagreg 259
 
703 killagreg 260
// Roll
711 killagreg 261
        Reading_GyroRoll += tmpl;
806 killagreg 262
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L;
711 killagreg 263
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
264
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
265
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
703 killagreg 266
        {
711 killagreg 267
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
268
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
703 killagreg 269
        }
711 killagreg 270
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
703 killagreg 271
        {
711 killagreg 272
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
273
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
703 killagreg 274
        }
711 killagreg 275
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
276
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
703 killagreg 277
        if(BoardRelease == 10)
711 killagreg 278
        {
279
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
280
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
281
        }
282
        else
283
        {
284
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
285
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
286
        }
703 killagreg 287
// Pitch
711 killagreg 288
        Reading_GyroPitch -= tmpl2;
289
        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
290
        Reading_IntegralGyroPitch2 += Reading_GyroPitch;
291
        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;
292
        if(Reading_IntegralGyroPitch > TurnOver180Pitch)
703 killagreg 293
        {
711 killagreg 294
         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L);
295
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
703 killagreg 296
        }
711 killagreg 297
        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)
703 killagreg 298
        {
711 killagreg 299
         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 10000L);
300
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
703 killagreg 301
        }
711 killagreg 302
        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;
303
        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;
703 killagreg 304
        if(BoardRelease == 10)
711 killagreg 305
        {
306
                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;
307
                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;
308
        }
309
        else
310
        {
311
                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;
312
                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;
313
        }
703 killagreg 314
 
826 killagreg 315
// start ADC again to capture measurement values for the next loop
683 killagreg 316
    ADC_Enable();
395 hbuss 317
 
711 killagreg 318
    IntegralYaw    = Reading_IntegralGyroYaw;
319
    IntegralPitch  = Reading_IntegralGyroPitch;
320
    IntegralRoll   = Reading_IntegralGyroRoll;
321
    IntegralPitch2 = Reading_IntegralGyroPitch2;
322
    IntegralRoll2  = Reading_IntegralGyroRoll2;
1 ingob 323
 
711 killagreg 324
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)
703 killagreg 325
        {
711 killagreg 326
                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);
327
                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);
328
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
329
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
703 killagreg 330
        }
1 ingob 331
}
332
 
703 killagreg 333
/************************************************************************/
334
/*  Averaging Measurement Readings  for Calibration                     */
335
/************************************************************************/
701 killagreg 336
void CalibMean(void)
683 killagreg 337
{
703 killagreg 338
    // stop ADC to avoid changing values during calculation
683 killagreg 339
        ADC_Disable();
703 killagreg 340
 
711 killagreg 341
        Reading_GyroPitch = AdValueGyrPitch;
342
        Reading_GyroRoll  = AdValueGyrRoll;
343
        Reading_GyroYaw   = AdValueGyrYaw;
703 killagreg 344
 
345
        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
711 killagreg 346
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
347
        Mean_AccTop   = (int32_t)AdValueAccTop;
750 killagreg 348
    // start ADC (enables internal trigger so that the ISR in analog.c
349
    // updates the readings once)
683 killagreg 350
    ADC_Enable();
762 killagreg 351
 
703 killagreg 352
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
750 killagreg 353
        TurnOver180Roll =  (int32_t) ParamSet.AngleTurnOverRoll  * 2500L;
1 ingob 354
}
355
 
703 killagreg 356
/************************************************************************/
357
/*  Transmit Motor Data via I2C                                         */
358
/************************************************************************/
1 ingob 359
void SendMotorData(void)
683 killagreg 360
{
701 killagreg 361
    if(MOTOR_OFF || !MotorsOn)
703 killagreg 362
    {
898 pangu 363
        Motor_RearLeft = 0;
364
                Motor_RearRight = 0;
365
        Motor_FrontLeft = 0;
366
                Motor_FrontRight = 0;
701 killagreg 367
        Motor_Right = 0;
368
        Motor_Left = 0;
898 pangu 369
        if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0];
370
        if(MotorTest[1]) Motor_RearLeft  = Motor_RearRight  = MotorTest[1];
750 killagreg 371
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
701 killagreg 372
        if(MotorTest[3]) Motor_Right = MotorTest[3];
703 killagreg 373
     }
1 ingob 374
 
898 pangu 375
    DebugOut.Analog[12] = Motor_FrontLeft;
376
    DebugOut.Analog[13] = Motor_RearRight;
377
    DebugOut.Analog[14] = Motor_FrontRight;
378
    DebugOut.Analog[15] = Motor_RearLeft;
379
    DebugOut.Analog[16] = Motor_Left;
380
    DebugOut.Analog[17] = Motor_Right;
381
 
1 ingob 382
    //Start I2C Interrupt Mode
383
    twi_state = 0;
384
    motor = 0;
726 killagreg 385
    I2C_Start();
1 ingob 386
}
387
 
388
 
389
 
703 killagreg 390
/************************************************************************/
391
/*  Maps the parameter to poti values                                   */
392
/************************************************************************/
393
void ParameterMapping(void)
1 ingob 394
{
800 killagreg 395
        if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok
762 killagreg 396
        // else the last updated values are used
397
        {
791 killagreg 398
                 //update poti values by rc-signals
762 killagreg 399
                #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;}
400
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);
401
                CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100);
402
                CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100);
403
                CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255);
404
                CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
405
                CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
406
                CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
407
                CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
408
                CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
409
                CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
410
                CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
411
                CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
412
                CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
413
                CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
414
                CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
415
                CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
416
                CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
417
                CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
418
                CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
419
                CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
420
                CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
421
                Ki = (float) FCParam.I_Factor * FACTOR_I;
422
        }
1 ingob 423
}
424
 
425
 
706 killagreg 426
/************************************************************************/
427
/*  MotorControl                                                        */
428
/************************************************************************/
712 killagreg 429
void MotorControl(void)
1 ingob 430
{
762 killagreg 431
        int16_t MotorValue, pd_result, h, tmp_int;
898 pangu 432
        int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction;
762 killagreg 433
        static int32_t SumPitch = 0, SumRoll = 0;
434
        static int32_t SetPointYaw = 0;
435
        static int32_t IntegralErrorPitch = 0;
436
        static int32_t IntegralErrorRoll = 0;
437
        static uint16_t RcLostTimer;
438
        static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
764 killagreg 439
        static uint16_t Model_Is_Flying = 0;
762 killagreg 440
        static uint8_t HeightControlActive = 0;
441
        static int16_t HeightControlThrust = 0;
442
        static int8_t TimerDebugOut = 0;
792 killagreg 443
        static uint16_t UpdateCompassCourse = 0;
762 killagreg 444
        static int32_t CorrectionPitch, CorrectionRoll;
1 ingob 445
 
701 killagreg 446
        Mean();
762 killagreg 447
        GRN_ON;
683 killagreg 448
 
449
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707 killagreg 450
// determine thrust value
683 killagreg 451
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 452
        ThrustMixFraction = StickThrust;
453
    if(ThrustMixFraction < 0) ThrustMixFraction = 0;
683 killagreg 454
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 455
// RC-signal is bad
683 killagreg 456
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
800 killagreg 457
        if(RC_Quality < 120)  // the rc-frame signal is not reveived or noisy
706 killagreg 458
        {
459
                if(!PcAccess) // if also no PC-Access via UART
460
                {
461
                        if(BeepModulation == 0xFFFF)
462
                        {
463
                         BeepTime = 15000; // 1.5 seconds
464
                         BeepModulation = 0x0C00;
465
                        }
466
                }
467
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
468
                else // rc lost countdown finished
469
                {
470
                  MotorsOn = 0; // stop all motors
471
                  EmergencyLanding = 0; // emergency landing is over
472
                }
473
                ROT_ON; // set red led
764 killagreg 474
                if(Model_Is_Flying > 2000)  // wahrscheinlich in der Luft --> langsam absenken
706 killagreg 475
                {
711 killagreg 476
                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust
706 killagreg 477
                        EmergencyLanding = 1; // enable emergency landing
478
                        // set neutral rc inputs
479
                        PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
480
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
791 killagreg 481
                        PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0;
706 killagreg 482
                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
483
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
484
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
485
                }
486
                else MotorsOn = 0; // switch of all motors
800 killagreg 487
        } // eof RC_Quality < 120
706 killagreg 488
        else
683 killagreg 489
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 490
// RC-signal is good
683 killagreg 491
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
800 killagreg 492
        if(RC_Quality > 150)
706 killagreg 493
        {
494
                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
495
                // reset emergency timer
707 killagreg 496
                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
711 killagreg 497
                if(ThrustMixFraction > 40)
706 killagreg 498
                {
764 killagreg 499
                        if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
706 killagreg 500
                }
764 killagreg 501
                if((Model_Is_Flying < 200) || (ThrustMixFraction < 40))
706 killagreg 502
                {
503
                        SumPitch = 0;
504
                        SumRoll = 0;
711 killagreg 505
                        Reading_IntegralGyroYaw = 0;
706 killagreg 506
                }
791 killagreg 507
 
508
                if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
509
                if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
510
                if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
511
                if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
512
                //PPM24-Extension
513
                if(Poti5 < PPM_in[9] + 110)  Poti5++; else if(Poti5 >  PPM_in[9] + 110 && Poti5) Poti5--;
514
                if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
515
                if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
516
                if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
517
                //limit poti values
518
                if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
519
                if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
520
                if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
521
                if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
522
                //PPM24-Extension
523
                if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
524
                if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
525
                if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
526
                if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
527
 
706 killagreg 528
                // if motors are off and the thrust stick is in the upper position
707 killagreg 529
                if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)
706 killagreg 530
                {
531
                        // and if the yaw stick is in the leftmost position
532
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
683 killagreg 533
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 534
// calibrate the neutral readings of all attitude sensors
683 killagreg 535
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 536
                        {
762 killagreg 537
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
706 killagreg 538
                                {
762 killagreg 539
                                        delay_neutral = 0;
540
                                        GRN_OFF;
764 killagreg 541
                                        Model_Is_Flying = 0;
762 killagreg 542
                                        // check roll/pitch stick position
543
                                        // if pitch stick is topmost or roll stick is leftmost --> change parameter setting
544
                                        // according to roll/pitch stick position
545
                                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
546
                                        {
547
                                                 uint8_t setting = 1; // default
548
                                                 //  _________
549
                                                 // |2   3   4|
550
                                                 // |         |
551
                                                 // |1       5|
552
                                                 // |         |
553
                                                 // |_________|
554
                                                 //
555
                                                 // roll stick leftmost and pitch stick centered --> setting 1
556
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
557
                                                 // roll stick leftmost and pitch stick topmost --> setting 2
558
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
559
                                                 // roll stick centered an pitch stick topmost --> setting 3
560
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
561
                                                 // roll stick rightmost and pitch stick topmost --> setting 4
562
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
563
                                                 // roll stick rightmost and pitch stick centered --> setting 5
564
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
565
                                                 // update active parameter set in eeprom
566
                                                 SetActiveParamSet(setting);
567
                                        }
568
                                        ParamSet_ReadFromEEProm(GetActiveParamSet());
569
                                        SetNeutral();
570
                                        Beep(GetActiveParamSet());
706 killagreg 571
                                }
572
                        }
573
                        // and if the yaw stick is in the rightmost position
574
                        // save the ACC neutral setting to eeprom
762 killagreg 575
                        else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
706 killagreg 576
                        {
792 killagreg 577
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
706 killagreg 578
                                {
792 killagreg 579
                                        delay_neutral = 0;
580
                                        GRN_OFF;
581
                                        SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid
582
                                        Model_Is_Flying = 0;
583
                                        SetNeutral();
584
                                        // Save ACC neutral settings to eeprom
585
                                        SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);
586
                                        SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
587
                                        SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
588
                                        Beep(GetActiveParamSet());
706 killagreg 589
                                }
590
                        }
762 killagreg 591
                        else delay_neutral = 0;
706 killagreg 592
                }
683 killagreg 593
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 594
// thrust stick is down
683 killagreg 595
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707 killagreg 596
                if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)
706 killagreg 597
                {
683 killagreg 598
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 599
// and yaw stick is rightmost --> start motors
683 killagreg 600
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 601
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
602
                        {
603
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
604
                                {
605
                                        delay_startmotors = 200; // do not repeat if once executed
764 killagreg 606
                                        Model_Is_Flying = 1;
706 killagreg 607
                                        MotorsOn = 1;
608
                                        SetPointYaw = 0;
711 killagreg 609
                                        Reading_IntegralGyroYaw = 0;
610
                                        Reading_IntegralGyroPitch = 0;
611
                                        Reading_IntegralGyroRoll = 0;
612
                                        Reading_IntegralGyroPitch2 = IntegralPitch;
613
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
706 killagreg 614
                                        SumPitch = 0;
615
                                        SumRoll = 0;
776 killagreg 616
                                        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
617
                                        {
618
                                                GPS_SetHomePosition();
619
                                        }
706 killagreg 620
                                }
621
                        }
622
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
683 killagreg 623
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 624
// and yaw stick is leftmost --> stop motors
683 killagreg 625
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 626
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
627
                                {
628
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
629
                                {
630
                                        delay_stopmotors = 200; // do not repeat if once executed
764 killagreg 631
                                        Model_Is_Flying = 0;
706 killagreg 632
                                        MotorsOn = 0;
776 killagreg 633
                                        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
634
                                        {
635
                                                GPS_ClearHomePosition();
636
                                        }
706 killagreg 637
                                }
638
                        }
639
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
640
                }
762 killagreg 641
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
800 killagreg 642
        } // eof RC_Quality > 150
683 killagreg 643
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 644
// new values from RC
683 killagreg 645
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
762 killagreg 646
        if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
647
        {
648
                int tmp_int;
649
                ParameterMapping(); // remapping params (online poti replacement)
650
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
651
                StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
652
                StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
653
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
654
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
604 hbuss 655
 
762 killagreg 656
                // direct mapping of yaw and thrust
657
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
658
                StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers
595 hbuss 659
 
791 killagreg 660
                // update max stick positions for pitch and roll
762 killagreg 661
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
662
                        MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]);
663
                else MaxStickPitch--;
664
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
665
                        MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
666
                else MaxStickRoll--;
614 hbuss 667
 
762 killagreg 668
                // update gyro control loop factors
1 ingob 669
 
762 killagreg 670
                Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0;
671
                Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000;
706 killagreg 672
 
595 hbuss 673
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 674
// Digital Control via DubWise
595 hbuss 675
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 676
 
762 killagreg 677
                #define KEY_VALUE (FCParam.UserParam1 * 4) // step width
678
                if(DubWiseKeys[1]) BeepTime = 10;
679
                if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
680
                else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
681
                else tmp_int = 0;
682
                ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;
683
                if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
684
                else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
685
                else tmp_int = 0;
686
                ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
492 hbuss 687
 
762 killagreg 688
                if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
689
                if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
690
                if(DubWiseKeys[0] & 2)  ExternHeightValue++;
691
                if(DubWiseKeys[0] & 16) ExternHeightValue--;
706 killagreg 692
 
762 killagreg 693
                StickPitch += ExternStickPitch / 8;
694
                StickRoll += ExternStickRoll / 8;
695
                StickYaw += ExternStickYaw;
706 killagreg 696
 
595 hbuss 697
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
750 killagreg 698
//+ Analog control via serial communication
595 hbuss 699
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 700
 
762 killagreg 701
                if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)
702
                {
703
                         StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;
704
                         StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
705
                         StickYaw += ExternControl.Yaw;
706
                         ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
707
                         if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust;
708
                }
709
                // disable I part of gyro control feedback
710
                if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
711
                // avoid negative scaling factors
712
                if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
713
                if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
706 killagreg 714
 
683 killagreg 715
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 716
// Looping?
683 killagreg 717
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 718
 
762 killagreg 719
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
720
                else
721
                {
804 killagreg 722
                        if(Looping_Left) // Hysteresis
723
                        {
724
                                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
725
                        }
762 killagreg 726
                }
727
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
728
                else
729
                {
804 killagreg 730
                        if(Looping_Right) // Hysteresis
731
                        {
732
                                if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
733
                        }
762 killagreg 734
                }
395 hbuss 735
 
762 killagreg 736
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
737
                else
738
                {
804 killagreg 739
                        if(Looping_Top)  // Hysteresis
740
                        {
741
                                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
742
                        }
762 killagreg 743
                }
744
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
745
                else
746
                {
804 killagreg 747
                        if(Looping_Down) // Hysteresis
748
                        {
749
                                if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
750
                        }
762 killagreg 751
                }
395 hbuss 752
 
762 killagreg 753
                if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
754
                if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
755
        } // End of new RC-Values or Emergency Landing
173 holgerb 756
 
683 killagreg 757
 
762 killagreg 758
        if(Looping_Roll) BeepTime = 100;
759
        if(Looping_Roll || Looping_Pitch)
760
        {
711 killagreg 761
                if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit;
762 killagreg 762
        }
706 killagreg 763
 
762 killagreg 764
 
765
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
766
//+ LED Control on J16/J17
767
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
790 killagreg 768
        LED1_Time = FCParam.UserParam7;
769
        LED2_Time = FCParam.UserParam8;
762 killagreg 770
        LED_Update();
771
 
683 killagreg 772
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 773
// in case of emergency landing
683 killagreg 774
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
762 killagreg 775
        // set all inputs to save values
776
        if(EmergencyLanding)
777
        {
778
                StickYaw = 0;
779
                StickPitch = 0;
780
                StickRoll = 0;
781
                Gyro_P_Factor  = 0.5;
782
                Gyro_I_Factor = 0.003;
783
                Looping_Roll = 0;
784
                Looping_Pitch = 0;
785
                MaxStickPitch = 0;
786
                MaxStickRoll = 0;
787
        }
395 hbuss 788
 
683 killagreg 789
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
706 killagreg 790
// Trim Gyro-Integrals to ACC-Signals
683 killagreg 791
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 792
 
762 killagreg 793
        #define BALANCE_NUMBER 256L
794
        // sum for averaging
795
        MeanIntegralPitch  += IntegralPitch;
796
        MeanIntegralRoll  += IntegralRoll;
395 hbuss 797
 
762 killagreg 798
        if(Looping_Pitch || Looping_Roll) // if looping in any direction
799
        {
800
                // reset averaging for acc and gyro integral as well as gyro integral acc correction
801
                MeasurementCounter = 0;
711 killagreg 802
 
762 killagreg 803
                IntegralAccPitch = 0;
804
                IntegralAccRoll = 0;
711 killagreg 805
 
762 killagreg 806
                MeanIntegralPitch = 0;
807
                MeanIntegralRoll = 0;
711 killagreg 808
 
762 killagreg 809
                Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
810
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
711 killagreg 811
 
762 killagreg 812
                AttitudeCorrectionPitch = 0;
813
                AttitudeCorrectionRoll = 0;
814
        }
706 killagreg 815
 
683 killagreg 816
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
762 killagreg 817
        if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction
818
        {
819
                int32_t tmp_long, tmp_long2;
820
                // determine the deviation of gyro integral from averaged acceleration sensor
826 killagreg 821
                tmp_long   =  (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch);
762 killagreg 822
                tmp_long  /= 16;
826 killagreg 823
                tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll);
762 killagreg 824
                tmp_long2 /= 16;
825
 
826
                if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands
706 killagreg 827
                {
762 killagreg 828
                        tmp_long  /= 3;
829
                        tmp_long2 /= 3;
830
                }
826 killagreg 831
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active
762 killagreg 832
                {
833
                        tmp_long  /= 3;
834
                        tmp_long2 /= 3;
835
                }
711 killagreg 836
 
762 killagreg 837
                #define BALANCE 32
838
                // limit correction effect
839
                if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
840
                if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
841
                if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
842
                if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
843
                // correct current readings
844
                Reading_IntegralGyroPitch -= tmp_long;
845
                Reading_IntegralGyroRoll -= tmp_long2;
846
        }
847
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
848
        // MeasurementCounter is incremented in the isr of analog.c
849
        if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
850
        {
851
                static int16_t cnt = 0;
852
                static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
853
                static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old;
614 hbuss 854
 
762 killagreg 855
                // if not lopping in any direction (this should be alwais the case,
856
                // because the Measurement counter is reset to 0 if looping in any direction is active.)
857
                if(!Looping_Pitch && !Looping_Roll)
711 killagreg 858
                {
762 killagreg 859
                        // Calculate mean value of the gyro integrals
860
                        MeanIntegralPitch /= BALANCE_NUMBER;
861
                        MeanIntegralRoll  /= BALANCE_NUMBER;
469 hbuss 862
 
762 killagreg 863
                        // Calculate mean of the acceleration values
826 killagreg 864
                        IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER;
865
                        IntegralAccRoll  = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER;
614 hbuss 866
 
762 killagreg 867
                        // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
868
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
869
                        IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch);
870
                        CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
871
                        AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER;
872
                        // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
873
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
874
                        IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
875
                        CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
876
                        AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
395 hbuss 877
 
791 killagreg 878
                        if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
762 killagreg 879
                        {
880
                                AttitudeCorrectionPitch /= 2;
881
                                AttitudeCorrectionRoll /= 2;
882
                        }
498 hbuss 883
 
762 killagreg 884
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
885
        // Gyro-Drift ermitteln
886
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
887
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
888
                        IntegralErrorPitch  = IntegralPitch2 - IntegralPitch;
889
                        Reading_IntegralGyroPitch2 -= IntegralErrorPitch;
890
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
891
                        IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
892
                        Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
395 hbuss 893
 
894
 
898 pangu 895
                        // DebugOut.Analog[17] = IntegralAccPitch / 26;
762 killagreg 896
                        DebugOut.Analog[18] = IntegralAccRoll / 26;
897
                        DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
898
                        DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
899
                        DebugOut.Analog[21] = MeanIntegralPitch / 26;
900
                        DebugOut.Analog[22] = MeanIntegralRoll / 26;
901
                        //DebugOut.Analog[28] = CorrectionPitch;
902
                        DebugOut.Analog[29] = CorrectionRoll;
903
                        DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
395 hbuss 904
 
762 killagreg 905
                        #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
906
                        #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
907
                        #define MOVEMENT_LIMIT 20000
908
        // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
909
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
910
                        CorrectionPitch = 0;
911
                        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT)
912
                        {
913
                                if(IntegralErrorPitch >  ERROR_LIMIT2)
711 killagreg 914
                                {
762 killagreg 915
                                        if(last_n_p)
711 killagreg 916
                                        {
762 killagreg 917
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
918
                                                CorrectionPitch = IntegralErrorPitch / 8;
919
                                                if(CorrectionPitch > 5000) CorrectionPitch = 5000;
920
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
711 killagreg 921
                                        }
762 killagreg 922
                                        else last_n_p = 1;
923
                                }
924
                                else  last_n_p = 0;
925
                                if(IntegralErrorPitch < -ERROR_LIMIT2)
926
                                {
927
                                        if(last_n_n)
711 killagreg 928
                                        {
762 killagreg 929
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
930
                                                CorrectionPitch = IntegralErrorPitch / 8;
931
                                                if(CorrectionPitch < -5000) CorrectionPitch = -5000;
932
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
711 killagreg 933
                                        }
762 killagreg 934
                                        else last_n_n = 1;
711 killagreg 935
                                }
762 killagreg 936
                                else  last_n_n = 0;
937
                        }
938
                        else cnt = 0;
939
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
940
                        // correct Gyro Offsets
941
                        if(IntegralErrorPitch >  ERROR_LIMIT)   AdNeutralPitch += cnt;
942
                        if(IntegralErrorPitch < -ERROR_LIMIT)   AdNeutralPitch -= cnt;
395 hbuss 943
 
762 killagreg 944
        // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
945
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
946
                        CorrectionRoll = 0;
947
                        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
948
                        {
949
                                if(IntegralErrorRoll >  ERROR_LIMIT2)
711 killagreg 950
                                {
762 killagreg 951
                                        if(last_r_p)
711 killagreg 952
                                        {
762 killagreg 953
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
954
                                                CorrectionRoll = IntegralErrorRoll / 8;
955
                                                if(CorrectionRoll > 5000) CorrectionRoll = 5000;
956
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
711 killagreg 957
                                        }
762 killagreg 958
                                        else last_r_p = 1;
959
                                }
960
                                else  last_r_p = 0;
961
                                if(IntegralErrorRoll < -ERROR_LIMIT2)
962
                                {
963
                                        if(last_r_n)
711 killagreg 964
                                        {
762 killagreg 965
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
966
                                                CorrectionRoll = IntegralErrorRoll / 8;
967
                                                if(CorrectionRoll < -5000) CorrectionRoll = -5000;
968
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
711 killagreg 969
                                        }
762 killagreg 970
                                        else last_r_n = 1;
711 killagreg 971
                                }
762 killagreg 972
                                else  last_r_n = 0;
711 killagreg 973
                        }
762 killagreg 974
                        else cnt = 0;
975
                        // correct Gyro Offsets
976
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
977
                        if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
978
                        if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
492 hbuss 979
 
762 killagreg 980
                        DebugOut.Analog[27] = CorrectionRoll;
981
                        DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
982
                        DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
983
                }
984
                else // looping is active
985
                {
986
                        AttitudeCorrectionRoll  = 0;
987
                        AttitudeCorrectionPitch = 0;
988
                }
614 hbuss 989
 
826 killagreg 990
                // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction
762 killagreg 991
                if(!Gyro_I_Factor)
992
                {
993
                        AttitudeCorrectionRoll  = 0;
994
                        AttitudeCorrectionPitch = 0;
995
                }
996
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
997
                MeanIntegralPitch_old = MeanIntegralPitch;
998
                MeanIntegralRoll_old  = MeanIntegralRoll;
999
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1000
                // reset variables used for averaging
1001
                IntegralAccPitch = 0;
1002
                IntegralAccRoll = 0;
1003
                MeanIntegralPitch = 0;
1004
                MeanIntegralRoll = 0;
1005
                MeasurementCounter = 0;
1006
        } // end of averaging
595 hbuss 1007
 
762 killagreg 1008
 
683 killagreg 1009
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1010
//  Yawing
683 killagreg 1011
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
792 killagreg 1012
        if(abs(StickYaw) > 20 ) // yaw stick is activated
793 killagreg 1013
        {
1014
                if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) UpdateCompassCourse = 1;
762 killagreg 1015
        }
1016
        // exponential stick sensitivity in yawring rate
1017
        tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
1018
        tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
1019
        SetPointYaw = tmp_int;
802 killagreg 1020
        // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw)
1021
        Reading_IntegralGyroYaw -= tmp_int;
762 killagreg 1022
        // limit the effect
1023
        if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
1024
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
683 killagreg 1025
 
1026
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1027
//  Compass
683 killagreg 1028
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
779 killagreg 1029
    // compass code is used if Compass option or GPS option is selected
1030
        if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE))
762 killagreg 1031
        {
1032
                static uint8_t updCompass = 0;
844 killagreg 1033
                int16_t w,v;
762 killagreg 1034
 
1035
                if (!updCompass--)
711 killagreg 1036
                {
762 killagreg 1037
                        updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
844 killagreg 1038
                        // get current compass heading (angle between MK head and magnetic north)
762 killagreg 1039
                        #ifdef USE_MM3
1040
                        CompassHeading = MM3_Heading();
1041
                        #endif
1042
                        #ifdef USE_CMPS03
1043
                        CompassHeading = CMPS03_Heading();
1044
                        #endif
793 killagreg 1045
                        if (CompassHeading < 0) CompassOffCourse = 0; // disable gyro compass correction on bad compass data
1046
                        else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; // calc course deviation
1047
                }
1048
 
844 killagreg 1049
                // get maximum attitude angle
1050
                w = abs(IntegralPitch/512);
1051
                v = abs(IntegralRoll /512);
1052
                if(v > w) w = v;
1053
                if (w < 25)
793 killagreg 1054
                {
1055
                        if(UpdateCompassCourse)
711 killagreg 1056
                        {
793 killagreg 1057
                                UpdateCompassCourse = 0;
1058
                                CompassCourse = CompassHeading;
1059
                                CompassOffCourse = 0;
711 killagreg 1060
                        }
844 killagreg 1061
                        w = (w * FCParam.CompassYawEffect) / 64;
1062
                w = FCParam.CompassYawEffect - w;
1063
                        if(w > 0) Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32;
762 killagreg 1064
                }
1065
        }
683 killagreg 1066
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
726 killagreg 1067
//  GPS
1068
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
762 killagreg 1069
        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
1070
        {
816 killagreg 1071
                GPS_I_Factor = FCParam.UserParam2;
762 killagreg 1072
                GPS_P_Factor = FCParam.UserParam5;
1073
                GPS_D_Factor = FCParam.UserParam6;
1074
                if(EmergencyLanding) GPS_Main(230); // enables Comming Home
844 killagreg 1075
                else GPS_Main(Poti3);               // behavior controlled by Poti3
762 killagreg 1076
        }
1077
        else
1078
        {
1079
                GPS_Neutral();
1080
        }
726 killagreg 1081
 
1082
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1083
//  Debugwerte zuordnen
683 killagreg 1084
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
762 killagreg 1085
        if(!TimerDebugOut--)
1086
        {
1087
                TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
826 killagreg 1088
                DebugOut.Analog[0]  = IntegralPitch / ParamSet.GyroAccFactor;
1089
                DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFactor;
762 killagreg 1090
                DebugOut.Analog[2]  = Mean_AccPitch;
1091
                DebugOut.Analog[3]  = Mean_AccRoll;
1092
                DebugOut.Analog[4]  = Reading_GyroYaw;
1093
                DebugOut.Analog[5]  = ReadingHeight;
1094
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
1095
                DebugOut.Analog[8]  = CompassHeading;
1096
                DebugOut.Analog[9]  = UBat;
800 killagreg 1097
                DebugOut.Analog[10] = RC_Quality;
1098
                //DebugOut.Analog[11] = RC_Quality;
898 pangu 1099
                //DebugOut.Analog[16] = Mean_AccTop;
173 holgerb 1100
 
762 killagreg 1101
                /*    DebugOut.Analog[16] = motor_rx[0];
1102
                DebugOut.Analog[17] = motor_rx[1];
1103
                DebugOut.Analog[18] = motor_rx[2];
1104
                DebugOut.Analog[19] = motor_rx[3];
1105
                DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1106
                DebugOut.Analog[20] /= 14;
1107
                DebugOut.Analog[21] = motor_rx[4];
1108
                DebugOut.Analog[22] = motor_rx[5];
1109
                DebugOut.Analog[23] = motor_rx[6];
1110
                DebugOut.Analog[24] = motor_rx[7];
1111
                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
1 ingob 1112
 
762 killagreg 1113
                DebugOut.Analog[9]  = Reading_GyroPitch;
1114
                DebugOut.Analog[9]  = SetPointHeight;
1115
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
800 killagreg 1116
 
762 killagreg 1117
                DebugOut.Analog[10] = FCParam.Gyro_I;
1118
                DebugOut.Analog[10] = ParamSet.Gyro_I;
1119
                DebugOut.Analog[9]  = CompassOffCourse;
1120
                DebugOut.Analog[10] = ThrustMixFraction;
1121
                DebugOut.Analog[3]  = HeightD * 32;
1122
                DebugOut.Analog[4]  = HeightControlThrust;
1123
                */
1124
        }
711 killagreg 1125
 
683 killagreg 1126
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1127
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
683 killagreg 1128
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
604 hbuss 1129
 
762 killagreg 1130
        if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor;
1131
        else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor;
1132
        if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
1133
        else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
1134
        Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
1 ingob 1135
 
762 killagreg 1136
        DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor;
1137
        DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor);
1138
        DebugOut.Analog[28] = Reading_GyroRoll;
469 hbuss 1139
 
762 killagreg 1140
        // limit control feedback
1141
        #define MAX_SENSOR  2048
1142
        if(Reading_GyroPitch >  MAX_SENSOR) Reading_GyroPitch =  MAX_SENSOR;
1143
        if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR;
1144
        if(Reading_GyroRoll  >  MAX_SENSOR) Reading_GyroRoll  =  MAX_SENSOR;
1145
        if(Reading_GyroRoll  < -MAX_SENSOR) Reading_GyroRoll  = -MAX_SENSOR;
1146
        if(Reading_GyroYaw   >  MAX_SENSOR) Reading_GyroYaw   =  MAX_SENSOR;
1147
        if(Reading_GyroYaw   < -MAX_SENSOR) Reading_GyroYaw   = -MAX_SENSOR;
1 ingob 1148
 
683 killagreg 1149
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
761 killagreg 1150
// Height Control
791 killagreg 1151
// The height control algorithm reduces the thrust but does not increase the thrust.
683 killagreg 1152
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
791 killagreg 1153
        // If height control is activated and no emergency landing is active
762 killagreg 1154
        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) )
1155
        {
1156
                int tmp_int;
791 killagreg 1157
                // if height control is activated by an rc channel
762 killagreg 1158
                if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
1159
                {       // check if parameter is less than activation threshold
1160
                        if(FCParam.MaxHeight < 50)
711 killagreg 1161
                        {
762 killagreg 1162
                                SetPointHeight = ReadingHeight - 20;  // update SetPoint with current reading
791 killagreg 1163
                                HeightControlActive = 0; // disable height control
711 killagreg 1164
                        }
791 killagreg 1165
                        else HeightControlActive = 1; // enable height control
762 killagreg 1166
                }
791 killagreg 1167
                else // no switchable height control
762 killagreg 1168
                {
1169
                        SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
1170
                        HeightControlActive = 1;
1171
                }
791 killagreg 1172
                // get current height
762 killagreg 1173
                h = ReadingHeight;
791 killagreg 1174
                // if current height is above the setpoint reduce thrust
762 killagreg 1175
                if((h > SetPointHeight) && HeightControlActive)
1176
                {
791 killagreg 1177
                        // ThrustMixFraction - HightDeviation * P  - HeightChange * D - ACCTop * DACC
1178
                        // height difference -> P control part
762 killagreg 1179
                        h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16;
1180
                        h = ThrustMixFraction - h; // reduce gas
791 killagreg 1181
                        // height gradient --> D control part
762 killagreg 1182
                        h -= (HeightD * FCParam.Height_D) / 8;  // D control part
1183
                        // acceleration sensor effect
1184
                        tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32;
1185
                        if(tmp_int > 50) tmp_int = 50;
1186
                        if(tmp_int < -50) tmp_int = -50;
1187
                        h -= tmp_int;
791 killagreg 1188
                        // update height control thrust
762 killagreg 1189
                        HeightControlThrust = (HeightControlThrust*15 + h) / 16;
1190
                        // limit thrust reduction
1191
                        if(HeightControlThrust < ParamSet.Height_MinThrust)
711 killagreg 1192
                        {
762 killagreg 1193
                                if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust;
791 killagreg 1194
                                // allows landing also if thrust stick is reduced below min thrust on height control
762 killagreg 1195
                                if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction;
711 killagreg 1196
                        }
762 killagreg 1197
                        // limit thrust to stick setting
1198
                        if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction;
1199
                        ThrustMixFraction = HeightControlThrust;
711 killagreg 1200
                }
762 killagreg 1201
        }
1202
        // limit thrust to parameter setting
1203
        if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20;
683 killagreg 1204
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1205
// + Mixer and PI-Controller
683 killagreg 1206
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
898 pangu 1207
 
762 killagreg 1208
        DebugOut.Analog[7] = ThrustMixFraction;
683 killagreg 1209
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1210
// Yaw-Fraction
683 killagreg 1211
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1212
    YawMixFraction = Reading_GyroYaw - SetPointYaw;     // yaw controller
173 holgerb 1213
 
711 killagreg 1214
        // limit YawMixFraction
1215
    if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2;
1216
    if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2);
1217
    if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction));
1218
    if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction));
1219
    if(ThrustMixFraction < 20) YawMixFraction = 0;
898 pangu 1220
 
683 killagreg 1221
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1222
// Pitch-Axis
683 killagreg 1223
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1224
    DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch);   // get difference
1225
    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control
1226
    else SumPitch += DiffPitch; // I-part for head holding
701 killagreg 1227
    if(SumPitch >  16000) SumPitch =  16000;
1228
    if(SumPitch < -16000) SumPitch = -16000;
711 killagreg 1229
    pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch
173 holgerb 1230
 
711 killagreg 1231
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1232
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1233
    if(pd_result < -tmp_int) pd_result = -tmp_int;
898 pangu 1234
 
1235
        PitchMixFraction = pd_result;  
1236
 
683 killagreg 1237
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1238
// Roll-Axis
683 killagreg 1239
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711 killagreg 1240
        DiffRoll = Reading_GyroRoll - (StickRoll  - GPS_Roll);  // get difference
1241
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll  - GPS_Roll); // I-part for attitude control
1242
    else SumRoll += DiffRoll;  // I-part for head holding
701 killagreg 1243
    if(SumRoll >  16000) SumRoll =  16000;
1244
    if(SumRoll < -16000) SumRoll = -16000;
711 killagreg 1245
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
1246
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1247
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1248
    if(pd_result < -tmp_int) pd_result = -tmp_int;
604 hbuss 1249
 
898 pangu 1250
    RollMixFraction = pd_result;
1251
 
1252
// Calculate Motor Mixes
1253
 
1254
        // Motor FrontLeft
1255
    MotorValue =        ThrustMixFraction
1256
                                        + PitchMixFraction
1257
                                        + RollMixFraction/2
1258
                                        - YawMixFraction;         // Mixer
1259
        if ((MotorValue < 0)) MotorValue = 0;
1260
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1261
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1262
        Motor_FrontLeft = MotorValue;
1263
 
1264
        // Motor FrontRight
1265
    MotorValue =        ThrustMixFraction
1266
                                        + PitchMixFraction
1267
                                        - RollMixFraction/2
1268
                                        + YawMixFraction;         // Mixer
1269
        if ((MotorValue < 0)) MotorValue = 0;
1270
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1271
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1272
        Motor_FrontRight = MotorValue;
1273
 
1274
        // Motor RearLeft
1275
        MotorValue =    ThrustMixFraction
1276
                                        - PitchMixFraction
1277
                                        + RollMixFraction/2
1278
                                        - YawMixFraction;     // Mixer
1279
        if ((MotorValue < 0)) MotorValue = 0;
1280
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1281
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1282
        Motor_RearLeft = MotorValue;
1283
        // Motor RearRight
1284
        MotorValue =    ThrustMixFraction
1285
                                        - PitchMixFraction
1286
                                        - RollMixFraction/2
1287
                                        + YawMixFraction;     // Mixer
1288
        if ((MotorValue < 0)) MotorValue = 0;
1289
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1290
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1291
        Motor_RearRight= MotorValue;
1292
 
711 killagreg 1293
    // Motor Left
898 pangu 1294
    MotorValue =        ThrustMixFraction
1295
                                        + RollMixFraction
1296
                                        + YawMixFraction;  // Mixer
701 killagreg 1297
        if ((MotorValue < 0)) MotorValue = 0;
707 killagreg 1298
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1299
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
701 killagreg 1300
    Motor_Left = MotorValue;
604 hbuss 1301
 
898 pangu 1302
        // Motor Right
1303
        MotorValue =    ThrustMixFraction
1304
                                        - RollMixFraction
1305
                                        - YawMixFraction;  // Mixer
701 killagreg 1306
        if ((MotorValue < 0)) MotorValue = 0;
707 killagreg 1307
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1308
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
701 killagreg 1309
    Motor_Right = MotorValue;
1 ingob 1310
}
1311