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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 04.2007 Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + www.MikroKopter.com |
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8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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21 | // + eindeutig als Ursprung verlinkt werden |
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22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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24 | // + Benutzung auf eigene Gefahr |
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25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * 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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35 | // + from this software without specific prior written permission. |
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683 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
683 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 39 | // + with our written permission |
683 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
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1 | ingob | 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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492 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
1 | ingob | 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
683 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | killagreg | 54 | #include <stdlib.h> |
55 | #include <avr/io.h> |
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1 | ingob | 56 | |
57 | #include "main.h" |
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685 | killagreg | 58 | #include "eeprom.h" |
59 | #include "timer0.h" |
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60 | #include "_Settings.h" |
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61 | #include "analog.h" |
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62 | #include "fc.h" |
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63 | #include "gps.h" |
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64 | #include "uart.h" |
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65 | #include "rc.h" |
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66 | #include "twimaster.h" |
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754 | killagreg | 67 | #ifdef USE_MM3 |
694 | killagreg | 68 | #include "mm3.h" |
754 | killagreg | 69 | #endif |
70 | #ifdef USE_CMPS03 |
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71 | #include "cmps03.h" |
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72 | #endif |
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762 | killagreg | 73 | #include "led.h" |
1 | ingob | 74 | |
750 | killagreg | 75 | volatile uint16_t I2CTimeout = 100; |
703 | killagreg | 76 | // gyro readings |
711 | killagreg | 77 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
703 | killagreg | 78 | // gyro neutral readings |
79 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
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80 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
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81 | // mean accelerations |
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82 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
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83 | |||
84 | // neutral acceleration readings |
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85 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
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1 | ingob | 86 | volatile float NeutralAccZ = 0; |
87 | |||
703 | killagreg | 88 | // attitude gyro integrals |
89 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
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90 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
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91 | volatile int32_t IntegralYaw = 0; |
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711 | killagreg | 92 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
93 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
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94 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
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95 | volatile int32_t MeanIntegralPitch; |
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96 | volatile int32_t MeanIntegralRoll; |
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703 | killagreg | 97 | |
98 | // attitude acceleration integrals |
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750 | killagreg | 99 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
703 | killagreg | 100 | volatile int32_t Reading_Integral_Top = 0; |
101 | |||
102 | // compass course |
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754 | killagreg | 103 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
104 | volatile int16_t CompassCourse = -1; |
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703 | killagreg | 105 | volatile int16_t CompassOffCourse = 0; |
106 | |||
107 | // flags |
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108 | uint8_t MotorsOn = 0; |
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733 | killagreg | 109 | uint8_t EmergencyLanding = 0; |
703 | killagreg | 110 | |
111 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
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112 | |||
706 | killagreg | 113 | float Gyro_P_Factor; |
114 | float Gyro_I_Factor; |
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703 | killagreg | 115 | |
116 | volatile int16_t DiffPitch, DiffRoll; |
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117 | |||
762 | killagreg | 118 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
703 | killagreg | 119 | |
120 | // setpoints for motors |
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121 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
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122 | |||
123 | // stick values derived by rc channels readings |
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707 | killagreg | 124 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
711 | killagreg | 125 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
703 | killagreg | 126 | // stick values derived by uart inputs |
761 | killagreg | 127 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
1 | ingob | 128 | |
129 | |||
703 | killagreg | 130 | |
711 | killagreg | 131 | |
761 | killagreg | 132 | int16_t ReadingHeight = 0; |
133 | int16_t SetPointHeight = 0; |
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703 | killagreg | 134 | |
135 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
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136 | |||
137 | float Ki = FACTOR_I; |
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138 | |||
139 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
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140 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
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141 | |||
142 | |||
143 | 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}; |
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144 | |||
145 | |||
146 | /************************************************************************/ |
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147 | /* Creates numbeeps beeps at the speaker */ |
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148 | /************************************************************************/ |
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149 | void Beep(uint8_t numbeeps) |
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1 | ingob | 150 | { |
703 | killagreg | 151 | while(numbeeps--) |
152 | { |
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153 | if(MotorsOn) return; //auf keinen Fall im Flug! |
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154 | BeepTime = 100; // 0.1 second |
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155 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
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156 | // this will block the flight control loop, |
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157 | // therefore do not use this funktion if motors are running |
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158 | } |
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1 | ingob | 159 | } |
160 | |||
703 | killagreg | 161 | /************************************************************************/ |
162 | /* Neutral Readings */ |
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163 | /************************************************************************/ |
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1 | ingob | 164 | void SetNeutral(void) |
165 | { |
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683 | killagreg | 166 | NeutralAccX = 0; |
1 | ingob | 167 | NeutralAccY = 0; |
168 | NeutralAccZ = 0; |
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701 | killagreg | 169 | AdNeutralPitch = 0; |
683 | killagreg | 170 | AdNeutralRoll = 0; |
701 | killagreg | 171 | AdNeutralYaw = 0; |
706 | killagreg | 172 | FCParam.Yaw_PosFeedback = 0; |
173 | FCParam.Yaw_NegFeedback = 0; |
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701 | killagreg | 174 | CalibMean(); |
395 | hbuss | 175 | Delay_ms_Mess(100); |
701 | killagreg | 176 | CalibMean(); |
761 | killagreg | 177 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
703 | killagreg | 178 | { |
179 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
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180 | } |
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181 | AdNeutralPitch = AdValueGyrPitch; |
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182 | AdNeutralRoll = AdValueGyrRoll; |
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183 | AdNeutralYaw = AdValueGyrYaw; |
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184 | StartNeutralRoll = AdNeutralRoll; |
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185 | StartNeutralPitch = AdNeutralPitch; |
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750 | killagreg | 186 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
513 | hbuss | 187 | { |
703 | killagreg | 188 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
189 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
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190 | NeutralAccZ = Current_AccZ; |
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513 | hbuss | 191 | } |
683 | killagreg | 192 | else |
703 | killagreg | 193 | { |
194 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
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195 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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196 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
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513 | hbuss | 197 | } |
711 | killagreg | 198 | Reading_IntegralGyroPitch = 0; |
199 | Reading_IntegralGyroPitch2 = 0; |
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200 | Reading_IntegralGyroRoll = 0; |
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201 | Reading_IntegralGyroRoll2 = 0; |
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202 | Reading_IntegralGyroYaw = 0; |
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203 | Reading_GyroPitch = 0; |
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204 | Reading_GyroRoll = 0; |
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205 | Reading_GyroYaw = 0; |
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701 | killagreg | 206 | StartAirPressure = AirPressure; |
761 | killagreg | 207 | HeightD = 0; |
701 | killagreg | 208 | Reading_Integral_Top = 0; |
209 | CompassCourse = CompassHeading; |
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683 | killagreg | 210 | BeepTime = 50; |
703 | killagreg | 211 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
212 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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761 | killagreg | 213 | ExternHeightValue = 0; |
746 | killagreg | 214 | GPS_Neutral(); |
1 | ingob | 215 | } |
216 | |||
703 | killagreg | 217 | /************************************************************************/ |
218 | /* Averaging Measurement Readings */ |
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219 | /************************************************************************/ |
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701 | killagreg | 220 | void Mean(void) |
683 | killagreg | 221 | { |
701 | killagreg | 222 | static int32_t tmpl,tmpl2; |
401 | hbuss | 223 | |
711 | killagreg | 224 | // Get offset corrected gyro readings (~ to angular velocity) |
225 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
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226 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
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227 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
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604 | hbuss | 228 | |
711 | killagreg | 229 | DebugOut.Analog[26] = Reading_GyroPitch; |
230 | DebugOut.Analog[28] = Reading_GyroRoll; |
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703 | killagreg | 231 | |
232 | // Acceleration Sensor |
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711 | killagreg | 233 | // sliding average sensor readings |
703 | killagreg | 234 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
235 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
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236 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
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237 | |||
711 | killagreg | 238 | // sum sensor readings for later averaging |
701 | killagreg | 239 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
703 | killagreg | 240 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
241 | |||
242 | // Yaw |
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711 | killagreg | 243 | // calculate yaw gyro intergral (~ to rotation angle) |
244 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
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245 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
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246 | // Coupling fraction |
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703 | killagreg | 247 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
248 | { |
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711 | killagreg | 249 | tmpl = Reading_IntegralGyroPitch / 4096L; |
250 | tmpl *= Reading_GyroYaw; |
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706 | killagreg | 251 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
703 | killagreg | 252 | tmpl /= 2048L; |
711 | killagreg | 253 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
254 | tmpl2 *= Reading_GyroYaw; |
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706 | killagreg | 255 | tmpl2 *= FCParam.Yaw_PosFeedback; |
703 | killagreg | 256 | tmpl2 /= 2048L; |
257 | } |
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258 | else tmpl = tmpl2 = 0; |
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711 | killagreg | 259 | |
703 | killagreg | 260 | // Roll |
711 | killagreg | 261 | Reading_GyroRoll += tmpl; |
262 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
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263 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
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264 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
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265 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
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703 | killagreg | 266 | { |
711 | killagreg | 267 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
268 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
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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; |
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703 | killagreg | 274 | } |
711 | killagreg | 275 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
276 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
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703 | killagreg | 277 | if(BoardRelease == 10) |
711 | killagreg | 278 | { |
279 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
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280 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
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281 | } |
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282 | else |
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283 | { |
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284 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
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285 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
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286 | } |
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703 | killagreg | 287 | // Pitch |
711 | killagreg | 288 | Reading_GyroPitch -= tmpl2; |
289 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
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290 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
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291 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
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292 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
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703 | killagreg | 293 | { |
711 | killagreg | 294 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
295 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
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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; |
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703 | killagreg | 301 | } |
711 | killagreg | 302 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
303 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
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703 | killagreg | 304 | if(BoardRelease == 10) |
711 | killagreg | 305 | { |
306 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
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307 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
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308 | } |
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309 | else |
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310 | { |
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311 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
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312 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
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313 | } |
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703 | killagreg | 314 | |
315 | // start ADC |
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683 | killagreg | 316 | ADC_Enable(); |
395 | hbuss | 317 | |
711 | killagreg | 318 | IntegralYaw = Reading_IntegralGyroYaw; |
319 | IntegralPitch = Reading_IntegralGyroPitch; |
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320 | IntegralRoll = Reading_IntegralGyroRoll; |
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321 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
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322 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
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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); |
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328 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
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329 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
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703 | killagreg | 330 | } |
711 | killagreg | 331 | //update poti values by rc-signals |
690 | killagreg | 332 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
333 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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334 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
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335 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
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703 | killagreg | 336 | //limit poti values |
1 | ingob | 337 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
338 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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339 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
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340 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
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341 | } |
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342 | |||
703 | killagreg | 343 | /************************************************************************/ |
344 | /* Averaging Measurement Readings for Calibration */ |
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345 | /************************************************************************/ |
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701 | killagreg | 346 | void CalibMean(void) |
683 | killagreg | 347 | { |
703 | killagreg | 348 | // stop ADC to avoid changing values during calculation |
683 | killagreg | 349 | ADC_Disable(); |
703 | killagreg | 350 | |
711 | killagreg | 351 | Reading_GyroPitch = AdValueGyrPitch; |
352 | Reading_GyroRoll = AdValueGyrRoll; |
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353 | Reading_GyroYaw = AdValueGyrYaw; |
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703 | killagreg | 354 | |
355 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
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711 | killagreg | 356 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
357 | Mean_AccTop = (int32_t)AdValueAccTop; |
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750 | killagreg | 358 | // start ADC (enables internal trigger so that the ISR in analog.c |
359 | // updates the readings once) |
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683 | killagreg | 360 | ADC_Enable(); |
750 | killagreg | 361 | //update poti values by rc-signals |
690 | killagreg | 362 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
363 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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364 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
||
365 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
||
762 | killagreg | 366 | |
367 | //PPM24-Extension |
||
368 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
||
369 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
||
370 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
||
371 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
||
372 | |||
703 | killagreg | 373 | //limit poti values |
1 | ingob | 374 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
375 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
376 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
377 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
762 | killagreg | 378 | //PPM24-Extension |
379 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
||
380 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
||
381 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
||
382 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
||
395 | hbuss | 383 | |
703 | killagreg | 384 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
750 | killagreg | 385 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
1 | ingob | 386 | } |
387 | |||
703 | killagreg | 388 | /************************************************************************/ |
389 | /* Transmit Motor Data via I2C */ |
||
390 | /************************************************************************/ |
||
1 | ingob | 391 | void SendMotorData(void) |
683 | killagreg | 392 | { |
701 | killagreg | 393 | if(MOTOR_OFF || !MotorsOn) |
703 | killagreg | 394 | { |
701 | killagreg | 395 | Motor_Rear = 0; |
396 | Motor_Front = 0; |
||
397 | Motor_Right = 0; |
||
398 | Motor_Left = 0; |
||
399 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
||
750 | killagreg | 400 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
401 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
||
701 | killagreg | 402 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
703 | killagreg | 403 | } |
1 | ingob | 404 | |
741 | killagreg | 405 | //DebugOut.Analog[12] = Motor_Front; |
406 | //DebugOut.Analog[13] = Motor_Rear; |
||
407 | //DebugOut.Analog[14] = Motor_Left; |
||
408 | //DebugOut.Analog[15] = Motor_Right; |
||
1 | ingob | 409 | |
410 | //Start I2C Interrupt Mode |
||
411 | twi_state = 0; |
||
412 | motor = 0; |
||
726 | killagreg | 413 | I2C_Start(); |
1 | ingob | 414 | } |
415 | |||
416 | |||
417 | |||
703 | killagreg | 418 | /************************************************************************/ |
419 | /* Maps the parameter to poti values */ |
||
420 | /************************************************************************/ |
||
421 | void ParameterMapping(void) |
||
1 | ingob | 422 | { |
762 | killagreg | 423 | if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok |
424 | // else the last updated values are used |
||
425 | { |
||
426 | #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;} |
||
427 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
||
428 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
||
429 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
||
430 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
||
431 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
||
432 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
||
433 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
||
434 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
||
435 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
||
436 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
||
437 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
||
438 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
||
439 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
||
440 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
||
441 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
||
442 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
||
443 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
||
444 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
||
445 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
||
446 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
||
447 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
||
448 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
||
449 | } |
||
1 | ingob | 450 | } |
451 | |||
452 | |||
706 | killagreg | 453 | /************************************************************************/ |
454 | /* MotorControl */ |
||
455 | /************************************************************************/ |
||
712 | killagreg | 456 | void MotorControl(void) |
1 | ingob | 457 | { |
762 | killagreg | 458 | int16_t MotorValue, pd_result, h, tmp_int; |
459 | int16_t YawMixFraction, ThrustMixFraction; |
||
460 | static int32_t SumPitch = 0, SumRoll = 0; |
||
461 | static int32_t SetPointYaw = 0; |
||
462 | static int32_t IntegralErrorPitch = 0; |
||
463 | static int32_t IntegralErrorRoll = 0; |
||
464 | static uint16_t RcLostTimer; |
||
465 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
||
764 | killagreg | 466 | static uint16_t Model_Is_Flying = 0; |
762 | killagreg | 467 | static uint8_t HeightControlActive = 0; |
468 | static int16_t HeightControlThrust = 0; |
||
469 | static int8_t TimerDebugOut = 0; |
||
470 | static int8_t StoreNewCompassCourse = 0; |
||
471 | static int32_t CorrectionPitch, CorrectionRoll; |
||
1 | ingob | 472 | |
701 | killagreg | 473 | Mean(); |
762 | killagreg | 474 | GRN_ON; |
683 | killagreg | 475 | |
476 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
707 | killagreg | 477 | // determine thrust value |
683 | killagreg | 478 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 479 | ThrustMixFraction = StickThrust; |
480 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
||
683 | killagreg | 481 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 482 | // RC-signal is bad |
683 | killagreg | 483 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 484 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
485 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
||
486 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
||
487 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
||
488 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
||
762 | killagreg | 489 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
706 | killagreg | 490 | { |
491 | if(!PcAccess) // if also no PC-Access via UART |
||
492 | { |
||
493 | if(BeepModulation == 0xFFFF) |
||
494 | { |
||
495 | BeepTime = 15000; // 1.5 seconds |
||
496 | BeepModulation = 0x0C00; |
||
497 | } |
||
498 | } |
||
499 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
||
500 | else // rc lost countdown finished |
||
501 | { |
||
502 | MotorsOn = 0; // stop all motors |
||
503 | EmergencyLanding = 0; // emergency landing is over |
||
504 | } |
||
505 | ROT_ON; // set red led |
||
764 | killagreg | 506 | if(Model_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
706 | killagreg | 507 | { |
711 | killagreg | 508 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
706 | killagreg | 509 | EmergencyLanding = 1; // enable emergency landing |
510 | // set neutral rc inputs |
||
511 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
512 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
513 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
514 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
515 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
516 | } |
||
517 | else MotorsOn = 0; // switch of all motors |
||
762 | killagreg | 518 | } // eof SenderOkay < 100 |
706 | killagreg | 519 | else |
683 | killagreg | 520 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 521 | // RC-signal is good |
683 | killagreg | 522 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 523 | if(SenderOkay > 140) |
524 | { |
||
525 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
||
526 | // reset emergency timer |
||
707 | killagreg | 527 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
711 | killagreg | 528 | if(ThrustMixFraction > 40) |
706 | killagreg | 529 | { |
764 | killagreg | 530 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
706 | killagreg | 531 | } |
764 | killagreg | 532 | if((Model_Is_Flying < 200) || (ThrustMixFraction < 40)) |
706 | killagreg | 533 | { |
534 | SumPitch = 0; |
||
535 | SumRoll = 0; |
||
711 | killagreg | 536 | Reading_IntegralGyroYaw = 0; |
537 | Reading_IntegralGyroYaw2 = 0; |
||
706 | killagreg | 538 | } |
539 | // if motors are off and the thrust stick is in the upper position |
||
707 | killagreg | 540 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
706 | killagreg | 541 | { |
542 | // and if the yaw stick is in the leftmost position |
||
543 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
683 | killagreg | 544 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 545 | // calibrate the neutral readings of all attitude sensors |
683 | killagreg | 546 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 547 | { |
762 | killagreg | 548 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
706 | killagreg | 549 | { |
762 | killagreg | 550 | delay_neutral = 0; |
551 | GRN_OFF; |
||
764 | killagreg | 552 | Model_Is_Flying = 0; |
762 | killagreg | 553 | // check roll/pitch stick position |
554 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
||
555 | // according to roll/pitch stick position |
||
556 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
||
557 | { |
||
558 | uint8_t setting = 1; // default |
||
559 | // _________ |
||
560 | // |2 3 4| |
||
561 | // | | |
||
562 | // |1 5| |
||
563 | // | | |
||
564 | // |_________| |
||
565 | // |
||
566 | // roll stick leftmost and pitch stick centered --> setting 1 |
||
567 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
||
568 | // roll stick leftmost and pitch stick topmost --> setting 2 |
||
569 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
||
570 | // roll stick centered an pitch stick topmost --> setting 3 |
||
571 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
||
572 | // roll stick rightmost and pitch stick topmost --> setting 4 |
||
573 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
||
574 | // roll stick rightmost and pitch stick centered --> setting 5 |
||
575 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
||
576 | // update active parameter set in eeprom |
||
577 | SetActiveParamSet(setting); |
||
578 | } |
||
579 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
580 | SetNeutral(); |
||
581 | Beep(GetActiveParamSet()); |
||
706 | killagreg | 582 | } |
583 | } |
||
584 | // and if the yaw stick is in the rightmost position |
||
585 | // save the ACC neutral setting to eeprom |
||
762 | killagreg | 586 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
706 | killagreg | 587 | { |
588 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
589 | { |
||
590 | delay_neutral = 0; |
||
591 | GRN_OFF; |
||
592 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
||
764 | killagreg | 593 | Model_Is_Flying = 0; |
706 | killagreg | 594 | SetNeutral(); |
595 | // Save ACC neutral settings to eeprom |
||
596 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
||
597 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
598 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
||
599 | Beep(GetActiveParamSet()); |
||
600 | } |
||
601 | } |
||
762 | killagreg | 602 | else delay_neutral = 0; |
706 | killagreg | 603 | } |
683 | killagreg | 604 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 605 | // thrust stick is down |
683 | killagreg | 606 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | killagreg | 607 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
706 | killagreg | 608 | { |
683 | killagreg | 609 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 610 | // and yaw stick is rightmost --> start motors |
683 | killagreg | 611 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 612 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
613 | { |
||
614 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
615 | { |
||
616 | delay_startmotors = 200; // do not repeat if once executed |
||
764 | killagreg | 617 | Model_Is_Flying = 1; |
706 | killagreg | 618 | MotorsOn = 1; |
619 | SetPointYaw = 0; |
||
711 | killagreg | 620 | Reading_IntegralGyroYaw = 0; |
621 | Reading_IntegralGyroYaw2 = 0; |
||
622 | Reading_IntegralGyroPitch = 0; |
||
623 | Reading_IntegralGyroRoll = 0; |
||
624 | Reading_IntegralGyroPitch2 = IntegralPitch; |
||
625 | Reading_IntegralGyroRoll2 = IntegralRoll; |
||
706 | killagreg | 626 | SumPitch = 0; |
627 | SumRoll = 0; |
||
776 | killagreg | 628 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
629 | { |
||
630 | GPS_SetHomePosition(); |
||
631 | } |
||
706 | killagreg | 632 | } |
633 | } |
||
634 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
||
683 | killagreg | 635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 636 | // and yaw stick is leftmost --> stop motors |
683 | killagreg | 637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 638 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
639 | { |
||
640 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
641 | { |
||
642 | delay_stopmotors = 200; // do not repeat if once executed |
||
764 | killagreg | 643 | Model_Is_Flying = 0; |
706 | killagreg | 644 | MotorsOn = 0; |
776 | killagreg | 645 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
646 | { |
||
647 | GPS_ClearHomePosition(); |
||
648 | } |
||
706 | killagreg | 649 | } |
650 | } |
||
651 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
||
652 | } |
||
762 | killagreg | 653 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
654 | } // eof SenderOkay > 140 |
||
683 | killagreg | 655 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 656 | // new values from RC |
683 | killagreg | 657 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 658 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
659 | { |
||
660 | int tmp_int; |
||
661 | ParameterMapping(); // remapping params (online poti replacement) |
||
662 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
||
663 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
||
664 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
||
665 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
||
666 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
604 | hbuss | 667 | |
762 | killagreg | 668 | // direct mapping of yaw and thrust |
669 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
||
670 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
||
595 | hbuss | 671 | |
762 | killagreg | 672 | // update max stick positions for pitch, roll and yaw |
673 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
||
674 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
||
675 | else MaxStickPitch--; |
||
676 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
||
677 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
||
678 | else MaxStickRoll--; |
||
679 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
||
680 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
||
681 | else MaxStickYaw--; |
||
614 | hbuss | 682 | |
762 | killagreg | 683 | // update gyro control loop factors |
1 | ingob | 684 | |
762 | killagreg | 685 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
686 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
||
706 | killagreg | 687 | |
595 | hbuss | 688 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 689 | // Digital Control via DubWise |
595 | hbuss | 690 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 691 | |
762 | killagreg | 692 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
693 | if(DubWiseKeys[1]) BeepTime = 10; |
||
694 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
||
695 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
||
696 | else tmp_int = 0; |
||
697 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
||
698 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
||
699 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
||
700 | else tmp_int = 0; |
||
701 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
||
492 | hbuss | 702 | |
762 | killagreg | 703 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
704 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
||
705 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
||
706 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
||
706 | killagreg | 707 | |
762 | killagreg | 708 | StickPitch += ExternStickPitch / 8; |
709 | StickRoll += ExternStickRoll / 8; |
||
710 | StickYaw += ExternStickYaw; |
||
706 | killagreg | 711 | |
595 | hbuss | 712 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | killagreg | 713 | //+ Analog control via serial communication |
595 | hbuss | 714 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 715 | |
762 | killagreg | 716 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
717 | { |
||
718 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
||
719 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
||
720 | StickYaw += ExternControl.Yaw; |
||
721 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
||
722 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
||
723 | } |
||
724 | // disable I part of gyro control feedback |
||
725 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
||
726 | // avoid negative scaling factors |
||
727 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
||
728 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
||
706 | killagreg | 729 | |
683 | killagreg | 730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 731 | // Looping? |
683 | killagreg | 732 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 733 | |
762 | killagreg | 734 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
735 | else |
||
736 | { |
||
737 | { |
||
738 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
||
739 | } |
||
740 | } |
||
741 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
||
742 | else |
||
743 | { |
||
744 | if(Looping_Right) // Hysterese |
||
745 | { |
||
746 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
||
747 | } |
||
748 | } |
||
395 | hbuss | 749 | |
762 | killagreg | 750 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
751 | else |
||
752 | { |
||
753 | if(Looping_Top) // Hysterese |
||
754 | { |
||
755 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
||
756 | } |
||
757 | } |
||
758 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
||
759 | else |
||
760 | { |
||
761 | if(Looping_Down) // Hysterese |
||
762 | { |
||
763 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
||
764 | } |
||
765 | } |
||
395 | hbuss | 766 | |
762 | killagreg | 767 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
768 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
||
769 | } // End of new RC-Values or Emergency Landing |
||
173 | holgerb | 770 | |
683 | killagreg | 771 | |
762 | killagreg | 772 | if(Looping_Roll) BeepTime = 100; |
773 | if(Looping_Roll || Looping_Pitch) |
||
774 | { |
||
711 | killagreg | 775 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
762 | killagreg | 776 | } |
706 | killagreg | 777 | |
762 | killagreg | 778 | |
779 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
780 | //+ LED Control on J16/J17 |
||
781 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
782 | LED_OffTime = FCParam.UserParam7; |
||
783 | LED_OnTime = FCParam.UserParam8; |
||
784 | LED_Update(); |
||
785 | |||
683 | killagreg | 786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 787 | // in case of emergency landing |
683 | killagreg | 788 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 789 | // set all inputs to save values |
790 | if(EmergencyLanding) |
||
791 | { |
||
792 | StickYaw = 0; |
||
793 | StickPitch = 0; |
||
794 | StickRoll = 0; |
||
795 | Gyro_P_Factor = 0.5; |
||
796 | Gyro_I_Factor = 0.003; |
||
797 | Looping_Roll = 0; |
||
798 | Looping_Pitch = 0; |
||
799 | MaxStickPitch = 0; |
||
800 | MaxStickRoll = 0; |
||
801 | MaxStickYaw = 0; |
||
802 | } |
||
395 | hbuss | 803 | |
683 | killagreg | 804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 805 | // Trim Gyro-Integrals to ACC-Signals |
683 | killagreg | 806 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 807 | |
762 | killagreg | 808 | #define BALANCE_NUMBER 256L |
809 | // sum for averaging |
||
810 | MeanIntegralPitch += IntegralPitch; |
||
811 | MeanIntegralRoll += IntegralRoll; |
||
395 | hbuss | 812 | |
762 | killagreg | 813 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
814 | { |
||
815 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
||
816 | MeasurementCounter = 0; |
||
711 | killagreg | 817 | |
762 | killagreg | 818 | IntegralAccPitch = 0; |
819 | IntegralAccRoll = 0; |
||
711 | killagreg | 820 | |
762 | killagreg | 821 | MeanIntegralPitch = 0; |
822 | MeanIntegralRoll = 0; |
||
711 | killagreg | 823 | |
762 | killagreg | 824 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
825 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
||
711 | killagreg | 826 | |
762 | killagreg | 827 | AttitudeCorrectionPitch = 0; |
828 | AttitudeCorrectionRoll = 0; |
||
829 | } |
||
706 | killagreg | 830 | |
683 | killagreg | 831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 832 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
833 | { |
||
834 | int32_t tmp_long, tmp_long2; |
||
835 | // determine the deviation of gyro integral from averaged acceleration sensor |
||
836 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
||
837 | tmp_long /= 16; |
||
838 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
||
839 | tmp_long2 /= 16; |
||
840 | |||
841 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
||
706 | killagreg | 842 | { |
762 | killagreg | 843 | tmp_long /= 3; |
844 | tmp_long2 /= 3; |
||
845 | } |
||
846 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
||
847 | { |
||
848 | tmp_long /= 3; |
||
849 | tmp_long2 /= 3; |
||
850 | } |
||
711 | killagreg | 851 | |
762 | killagreg | 852 | #define BALANCE 32 |
853 | // limit correction effect |
||
854 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
||
855 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
||
856 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
||
857 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
||
858 | // correct current readings |
||
859 | Reading_IntegralGyroPitch -= tmp_long; |
||
860 | Reading_IntegralGyroRoll -= tmp_long2; |
||
861 | } |
||
862 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
863 | // MeasurementCounter is incremented in the isr of analog.c |
||
864 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
||
865 | { |
||
866 | static int16_t cnt = 0; |
||
867 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
||
868 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
||
614 | hbuss | 869 | |
762 | killagreg | 870 | // if not lopping in any direction (this should be alwais the case, |
871 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
||
872 | if(!Looping_Pitch && !Looping_Roll) |
||
711 | killagreg | 873 | { |
762 | killagreg | 874 | // Calculate mean value of the gyro integrals |
875 | MeanIntegralPitch /= BALANCE_NUMBER; |
||
876 | MeanIntegralRoll /= BALANCE_NUMBER; |
||
469 | hbuss | 877 | |
762 | killagreg | 878 | // Calculate mean of the acceleration values |
879 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
||
880 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
||
614 | hbuss | 881 | |
762 | killagreg | 882 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
883 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
||
884 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
||
885 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
||
886 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
||
887 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
888 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
||
889 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
||
890 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
||
891 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
||
395 | hbuss | 892 | |
762 | killagreg | 893 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
894 | { |
||
895 | AttitudeCorrectionPitch /= 2; |
||
896 | AttitudeCorrectionRoll /= 2; |
||
897 | } |
||
498 | hbuss | 898 | |
762 | killagreg | 899 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
900 | // Gyro-Drift ermitteln |
||
901 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
902 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
||
903 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
||
904 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
||
905 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
||
906 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
||
907 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
||
395 | hbuss | 908 | |
909 | |||
762 | killagreg | 910 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
911 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
912 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
||
913 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
||
914 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
||
915 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
||
916 | //DebugOut.Analog[28] = CorrectionPitch; |
||
917 | DebugOut.Analog[29] = CorrectionRoll; |
||
918 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
||
395 | hbuss | 919 | |
762 | killagreg | 920 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
921 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
||
922 | #define MOVEMENT_LIMIT 20000 |
||
923 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
924 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
||
925 | CorrectionPitch = 0; |
||
926 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
||
927 | { |
||
928 | if(IntegralErrorPitch > ERROR_LIMIT2) |
||
711 | killagreg | 929 | { |
762 | killagreg | 930 | if(last_n_p) |
711 | killagreg | 931 | { |
762 | killagreg | 932 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
933 | CorrectionPitch = IntegralErrorPitch / 8; |
||
934 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
||
935 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
||
711 | killagreg | 936 | } |
762 | killagreg | 937 | else last_n_p = 1; |
938 | } |
||
939 | else last_n_p = 0; |
||
940 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
||
941 | { |
||
942 | if(last_n_n) |
||
711 | killagreg | 943 | { |
762 | killagreg | 944 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
945 | CorrectionPitch = IntegralErrorPitch / 8; |
||
946 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
||
947 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
||
711 | killagreg | 948 | } |
762 | killagreg | 949 | else last_n_n = 1; |
711 | killagreg | 950 | } |
762 | killagreg | 951 | else last_n_n = 0; |
952 | } |
||
953 | else cnt = 0; |
||
954 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
955 | // correct Gyro Offsets |
||
956 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
||
957 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
||
395 | hbuss | 958 | |
762 | killagreg | 959 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
960 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
||
961 | CorrectionRoll = 0; |
||
962 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
||
963 | { |
||
964 | if(IntegralErrorRoll > ERROR_LIMIT2) |
||
711 | killagreg | 965 | { |
762 | killagreg | 966 | if(last_r_p) |
711 | killagreg | 967 | { |
762 | killagreg | 968 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
969 | CorrectionRoll = IntegralErrorRoll / 8; |
||
970 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
||
971 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
711 | killagreg | 972 | } |
762 | killagreg | 973 | else last_r_p = 1; |
974 | } |
||
975 | else last_r_p = 0; |
||
976 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
||
977 | { |
||
978 | if(last_r_n) |
||
711 | killagreg | 979 | { |
762 | killagreg | 980 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
981 | CorrectionRoll = IntegralErrorRoll / 8; |
||
982 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
||
983 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
711 | killagreg | 984 | } |
762 | killagreg | 985 | else last_r_n = 1; |
711 | killagreg | 986 | } |
762 | killagreg | 987 | else last_r_n = 0; |
711 | killagreg | 988 | } |
762 | killagreg | 989 | else cnt = 0; |
990 | // correct Gyro Offsets |
||
991 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
992 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
||
993 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
||
492 | hbuss | 994 | |
762 | killagreg | 995 | DebugOut.Analog[27] = CorrectionRoll; |
996 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
||
997 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
||
998 | } |
||
999 | else // looping is active |
||
1000 | { |
||
1001 | AttitudeCorrectionRoll = 0; |
||
1002 | AttitudeCorrectionPitch = 0; |
||
1003 | } |
||
614 | hbuss | 1004 | |
762 | killagreg | 1005 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
1006 | if(!Gyro_I_Factor) |
||
1007 | { |
||
1008 | AttitudeCorrectionRoll = 0; |
||
1009 | AttitudeCorrectionPitch = 0; |
||
1010 | } |
||
1011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1012 | MeanIntegralPitch_old = MeanIntegralPitch; |
||
1013 | MeanIntegralRoll_old = MeanIntegralRoll; |
||
1014 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1015 | // reset variables used for averaging |
||
1016 | IntegralAccPitch = 0; |
||
1017 | IntegralAccRoll = 0; |
||
1018 | MeanIntegralPitch = 0; |
||
1019 | MeanIntegralRoll = 0; |
||
1020 | MeasurementCounter = 0; |
||
1021 | } // end of averaging |
||
595 | hbuss | 1022 | |
762 | killagreg | 1023 | |
683 | killagreg | 1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1025 | // Yawing |
683 | killagreg | 1026 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 1027 | if(MaxStickYaw > 20) // yaw stick is activated |
1028 | { // if not fixed compass course is set update compass course |
||
1029 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
||
1030 | } |
||
1031 | // exponential stick sensitivity in yawring rate |
||
1032 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
||
1033 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
||
1034 | SetPointYaw = tmp_int; |
||
1035 | Reading_IntegralGyroYaw -= tmp_int; |
||
1036 | // limit the effect |
||
1037 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
||
1038 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
||
683 | killagreg | 1039 | |
1040 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
711 | killagreg | 1041 | // Compass |
683 | killagreg | 1042 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
779 | killagreg | 1043 | // compass code is used if Compass option or GPS option is selected |
1044 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
||
762 | killagreg | 1045 | { |
1046 | int16_t w,v; |
||
1047 | static uint8_t updCompass = 0; |
||
1048 | |||
1049 | if (!updCompass--) |
||
711 | killagreg | 1050 | { |
762 | killagreg | 1051 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1052 | // get current compass heading (angule between MK head and magnetic north) |
||
1053 | #ifdef USE_MM3 |
||
1054 | CompassHeading = MM3_Heading(); |
||
1055 | #endif |
||
1056 | #ifdef USE_CMPS03 |
||
1057 | CompassHeading = CMPS03_Heading(); |
||
1058 | #endif |
||
694 | killagreg | 1059 | |
762 | killagreg | 1060 | if (CompassHeading < 0) // no compass data available |
711 | killagreg | 1061 | { |
770 | killagreg | 1062 | CompassOffCourse = 0; // disables gyro compass correction |
711 | killagreg | 1063 | } |
762 | killagreg | 1064 | else // calculate OffCourse (angular deviation from heading to course) |
1065 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
||
1066 | } |
||
1 | ingob | 1067 | |
762 | killagreg | 1068 | // reduce compass effect with increasing declination |
1069 | w = abs(IntegralPitch / 512); |
||
1070 | v = abs(IntegralRoll / 512); |
||
1071 | if(v > w) w = v; // get maximum declination |
||
770 | killagreg | 1072 | // if declination is small enough then update compass course if neccessary |
1073 | if((w < 35) && StoreNewCompassCourse && (CompassHeading>=0) ) // 35 corresponds to a declination of ~14 deg |
||
762 | killagreg | 1074 | { |
1075 | CompassCourse = CompassHeading; |
||
1076 | StoreNewCompassCourse = 0; |
||
711 | killagreg | 1077 | } |
770 | killagreg | 1078 | w = (w * FCParam.CompassYawEffect) / 64; // (w=0 for 64->~25 deg, 128->~50 deg) for higher declinaions the compass drift compensation is disabled |
762 | killagreg | 1079 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
1080 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
||
1081 | { |
||
1082 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
||
1083 | } |
||
1084 | } |
||
683 | killagreg | 1085 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
726 | killagreg | 1086 | // GPS |
1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
762 | killagreg | 1088 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1089 | { |
||
1090 | GPS_P_Factor = FCParam.UserParam5; |
||
1091 | GPS_D_Factor = FCParam.UserParam6; |
||
1092 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
||
1093 | else GPS_Main(Poti3); |
||
1094 | } |
||
1095 | else |
||
1096 | { |
||
1097 | GPS_Neutral(); |
||
1098 | } |
||
726 | killagreg | 1099 | |
1100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1101 | // Debugwerte zuordnen |
683 | killagreg | 1102 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 1103 | if(!TimerDebugOut--) |
1104 | { |
||
1105 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
||
1106 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
||
1107 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
||
1108 | DebugOut.Analog[2] = Mean_AccPitch; |
||
1109 | DebugOut.Analog[3] = Mean_AccRoll; |
||
1110 | DebugOut.Analog[4] = Reading_GyroYaw; |
||
1111 | DebugOut.Analog[5] = ReadingHeight; |
||
1112 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
||
1113 | DebugOut.Analog[8] = CompassHeading; |
||
1114 | DebugOut.Analog[9] = UBat; |
||
1115 | DebugOut.Analog[10] = SenderOkay; |
||
1116 | DebugOut.Analog[16] = Mean_AccTop; |
||
173 | holgerb | 1117 | |
762 | killagreg | 1118 | /* DebugOut.Analog[16] = motor_rx[0]; |
1119 | DebugOut.Analog[17] = motor_rx[1]; |
||
1120 | DebugOut.Analog[18] = motor_rx[2]; |
||
1121 | DebugOut.Analog[19] = motor_rx[3]; |
||
1122 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
1123 | DebugOut.Analog[20] /= 14; |
||
1124 | DebugOut.Analog[21] = motor_rx[4]; |
||
1125 | DebugOut.Analog[22] = motor_rx[5]; |
||
1126 | DebugOut.Analog[23] = motor_rx[6]; |
||
1127 | DebugOut.Analog[24] = motor_rx[7]; |
||
1128 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
1 | ingob | 1129 | |
762 | killagreg | 1130 | DebugOut.Analog[9] = Reading_GyroPitch; |
1131 | DebugOut.Analog[9] = SetPointHeight; |
||
1132 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
||
1133 | DebugOut.Analog[11] = CompassCourse; |
||
1134 | DebugOut.Analog[10] = FCParam.Gyro_I; |
||
1135 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
||
1136 | DebugOut.Analog[9] = CompassOffCourse; |
||
1137 | DebugOut.Analog[10] = ThrustMixFraction; |
||
1138 | DebugOut.Analog[3] = HeightD * 32; |
||
1139 | DebugOut.Analog[4] = HeightControlThrust; |
||
1140 | */ |
||
1141 | } |
||
711 | killagreg | 1142 | |
683 | killagreg | 1143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1144 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
683 | killagreg | 1145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
604 | hbuss | 1146 | |
762 | killagreg | 1147 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1148 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
||
1149 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
||
1150 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
||
1151 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
||
1 | ingob | 1152 | |
762 | killagreg | 1153 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1154 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
||
1155 | DebugOut.Analog[28] = Reading_GyroRoll; |
||
469 | hbuss | 1156 | |
762 | killagreg | 1157 | // limit control feedback |
1158 | #define MAX_SENSOR 2048 |
||
1159 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
||
1160 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
||
1161 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
||
1162 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
||
1163 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
||
1164 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
||
1 | ingob | 1165 | |
683 | killagreg | 1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
761 | killagreg | 1167 | // Height Control |
785 | killagreg | 1168 | // The higtht control algorithm reduces the thrust but does not increase the thrust. |
683 | killagreg | 1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 1170 | // If hight control is activated and no emergency landing is active |
1171 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
||
1172 | { |
||
1173 | int tmp_int; |
||
1174 | // if hight control is activated by an rc channel |
||
1175 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
||
1176 | { // check if parameter is less than activation threshold |
||
1177 | if(FCParam.MaxHeight < 50) |
||
711 | killagreg | 1178 | { |
762 | killagreg | 1179 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1180 | HeightControlActive = 0; // disable hight control |
||
711 | killagreg | 1181 | } |
762 | killagreg | 1182 | else HeightControlActive = 1; // enable hight control |
1183 | } |
||
1184 | else // no switchable hight control |
||
1185 | { |
||
1186 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
||
1187 | HeightControlActive = 1; |
||
1188 | } |
||
1189 | // get current hight |
||
1190 | h = ReadingHeight; |
||
1191 | // if current hight is above the setpoint reduce thrust |
||
1192 | if((h > SetPointHeight) && HeightControlActive) |
||
1193 | { |
||
1194 | // hight difference -> P control part |
||
1195 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
||
1196 | h = ThrustMixFraction - h; // reduce gas |
||
1197 | // higth gradient --> D control part |
||
1198 | h -= (HeightD * FCParam.Height_D) / 8; // D control part |
||
1199 | // acceleration sensor effect |
||
1200 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
||
1201 | if(tmp_int > 50) tmp_int = 50; |
||
1202 | if(tmp_int < -50) tmp_int = -50; |
||
1203 | h -= tmp_int; |
||
1204 | // update hight control thrust |
||
1205 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
||
1206 | // limit thrust reduction |
||
1207 | if(HeightControlThrust < ParamSet.Height_MinThrust) |
||
711 | killagreg | 1208 | { |
762 | killagreg | 1209 | if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
1210 | // allows landing also if thrust stick is reduced below min thrust on hight control |
||
1211 | if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
||
711 | killagreg | 1212 | } |
762 | killagreg | 1213 | // limit thrust to stick setting |
1214 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
||
1215 | ThrustMixFraction = HeightControlThrust; |
||
711 | killagreg | 1216 | } |
762 | killagreg | 1217 | } |
1218 | // limit thrust to parameter setting |
||
1219 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
||
683 | killagreg | 1220 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1221 | // + Mixer and PI-Controller |
683 | killagreg | 1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | killagreg | 1223 | DebugOut.Analog[7] = ThrustMixFraction; |
683 | killagreg | 1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1225 | // Yaw-Fraction |
683 | killagreg | 1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1227 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
173 | holgerb | 1228 | |
711 | killagreg | 1229 | // limit YawMixFraction |
1230 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
||
1231 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
||
1232 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
||
1233 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
||
1234 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
||
683 | killagreg | 1235 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1236 | // Pitch-Axis |
683 | killagreg | 1237 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1238 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1239 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
||
1240 | else SumPitch += DiffPitch; // I-part for head holding |
||
701 | killagreg | 1241 | if(SumPitch > 16000) SumPitch = 16000; |
1242 | if(SumPitch < -16000) SumPitch = -16000; |
||
711 | killagreg | 1243 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
173 | holgerb | 1244 | |
711 | killagreg | 1245 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1246 | if(pd_result > tmp_int) pd_result = tmp_int; |
||
1247 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
1248 | |||
1249 | // Motor Front |
||
1250 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
||
701 | killagreg | 1251 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1252 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1253 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1254 | Motor_Front = MotorValue; |
711 | killagreg | 1255 | |
1256 | // Motor Rear |
||
1257 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
||
701 | killagreg | 1258 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1259 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1260 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1261 | Motor_Rear = MotorValue; |
683 | killagreg | 1262 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1263 | // Roll-Axis |
683 | killagreg | 1264 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | killagreg | 1265 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1266 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
||
1267 | else SumRoll += DiffRoll; // I-part for head holding |
||
701 | killagreg | 1268 | if(SumRoll > 16000) SumRoll = 16000; |
1269 | if(SumRoll < -16000) SumRoll = -16000; |
||
711 | killagreg | 1270 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1271 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
||
1272 | if(pd_result > tmp_int) pd_result = tmp_int; |
||
1273 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
604 | hbuss | 1274 | |
711 | killagreg | 1275 | // Motor Left |
1276 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
||
701 | killagreg | 1277 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1278 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1279 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1280 | Motor_Left = MotorValue; |
604 | hbuss | 1281 | |
711 | killagreg | 1282 | // Motor Right |
1283 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
||
701 | killagreg | 1284 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1285 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1286 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1287 | Motor_Right = MotorValue; |
1 | ingob | 1288 | } |
1289 |