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Rev | Author | Line No. | Line |
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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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694 | killagreg | 67 | #include "mm3.h" |
1 | ingob | 68 | |
703 | killagreg | 69 | |
173 | holgerb | 70 | volatile unsigned int I2CTimeout = 100; |
703 | killagreg | 71 | // gyro readings |
72 | volatile int16_t ReadingPitch, ReadingRoll, ReadingYaw; |
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73 | // gyro neutral readings |
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74 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
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75 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
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76 | // mean accelerations |
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77 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
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78 | |||
79 | // neutral acceleration readings |
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80 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
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1 | ingob | 81 | volatile float NeutralAccZ = 0; |
82 | |||
703 | killagreg | 83 | // attitude gyro integrals |
84 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
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85 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
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86 | volatile int32_t IntegralYaw = 0; |
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87 | volatile int32_t Reading_IntegralPitch = 0, Reading_IntegralPitch2 = 0; |
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88 | volatile int32_t Reading_IntegralRoll = 0, Reading_IntegralRoll2 = 0; |
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89 | volatile int32_t Reading_IntegralYaw = 0, Reading_IntegralYaw2 = 0; |
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90 | volatile int32_t MeanIntegralPitch, MeanIntegralPitch2; |
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91 | volatile int32_t MeanIntegralRoll, MeanIntegralRoll2; |
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92 | |||
93 | // attitude acceleration integrals |
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94 | volatile int32_t IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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95 | volatile int32_t Reading_Integral_Top = 0; |
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96 | |||
97 | // compass course |
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98 | volatile int16_t CompassHeading = 0; |
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99 | volatile int16_t CompassCourse = 0; |
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100 | volatile int16_t CompassOffCourse = 0; |
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101 | |||
102 | // flags |
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103 | uint8_t MotorsOn = 0; |
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104 | |||
105 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
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106 | |||
706 | killagreg | 107 | float Gyro_P_Factor; |
108 | float Gyro_I_Factor; |
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703 | killagreg | 109 | |
110 | volatile int16_t DiffPitch, DiffRoll; |
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111 | |||
112 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
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113 | |||
114 | // setpoints for motors |
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115 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
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116 | |||
117 | // stick values derived by rc channels readings |
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707 | killagreg | 118 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
703 | killagreg | 119 | // stick values derived by uart inputs |
120 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
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1 | ingob | 121 | |
701 | killagreg | 122 | int MaxStickPitch = 0, MaxStickRoll = 0; |
1 | ingob | 123 | |
703 | killagreg | 124 | |
125 | int16_t ReadingHight = 0; |
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126 | int16_t SetPointHight = 0; |
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127 | |||
128 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
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129 | |||
130 | float Ki = FACTOR_I; |
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131 | |||
132 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
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133 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
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134 | |||
135 | |||
136 | 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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137 | |||
138 | |||
139 | /************************************************************************/ |
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140 | /* Creates numbeeps beeps at the speaker */ |
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141 | /************************************************************************/ |
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142 | void Beep(uint8_t numbeeps) |
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1 | ingob | 143 | { |
703 | killagreg | 144 | while(numbeeps--) |
145 | { |
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146 | if(MotorsOn) return; //auf keinen Fall im Flug! |
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147 | BeepTime = 100; // 0.1 second |
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148 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
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149 | // this will block the flight control loop, |
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150 | // therefore do not use this funktion if motors are running |
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151 | } |
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1 | ingob | 152 | } |
153 | |||
703 | killagreg | 154 | /************************************************************************/ |
155 | /* Neutral Readings */ |
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156 | /************************************************************************/ |
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1 | ingob | 157 | void SetNeutral(void) |
158 | { |
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683 | killagreg | 159 | NeutralAccX = 0; |
1 | ingob | 160 | NeutralAccY = 0; |
161 | NeutralAccZ = 0; |
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701 | killagreg | 162 | AdNeutralPitch = 0; |
683 | killagreg | 163 | AdNeutralRoll = 0; |
701 | killagreg | 164 | AdNeutralYaw = 0; |
706 | killagreg | 165 | FCParam.Yaw_PosFeedback = 0; |
166 | FCParam.Yaw_NegFeedback = 0; |
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701 | killagreg | 167 | CalibMean(); |
395 | hbuss | 168 | Delay_ms_Mess(100); |
701 | killagreg | 169 | CalibMean(); |
703 | killagreg | 170 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
171 | { |
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172 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
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173 | } |
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174 | AdNeutralPitch = AdValueGyrPitch; |
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175 | AdNeutralRoll = AdValueGyrRoll; |
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176 | AdNeutralYaw = AdValueGyrYaw; |
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177 | StartNeutralRoll = AdNeutralRoll; |
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178 | StartNeutralPitch = AdNeutralPitch; |
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701 | killagreg | 179 | if(GetParamByte(PID_ACC_PITCH) > 4) |
513 | hbuss | 180 | { |
703 | killagreg | 181 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
182 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
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183 | NeutralAccZ = Current_AccZ; |
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513 | hbuss | 184 | } |
683 | killagreg | 185 | else |
703 | killagreg | 186 | { |
187 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
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188 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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189 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
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513 | hbuss | 190 | } |
701 | killagreg | 191 | Reading_IntegralPitch = 0; |
192 | Reading_IntegralPitch2 = 0; |
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193 | Reading_IntegralRoll = 0; |
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194 | Reading_IntegralRoll2 = 0; |
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703 | killagreg | 195 | Reading_IntegralYaw = 0; |
701 | killagreg | 196 | ReadingPitch = 0; |
197 | ReadingRoll = 0; |
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198 | ReadingYaw = 0; |
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199 | StartAirPressure = AirPressure; |
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703 | killagreg | 200 | HightD = 0; |
701 | killagreg | 201 | Reading_Integral_Top = 0; |
202 | CompassCourse = CompassHeading; |
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1 | ingob | 203 | GPS_Neutral(); |
683 | killagreg | 204 | BeepTime = 50; |
703 | killagreg | 205 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
206 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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701 | killagreg | 207 | ExternHightValue = 0; |
1 | ingob | 208 | } |
209 | |||
703 | killagreg | 210 | /************************************************************************/ |
211 | /* Averaging Measurement Readings */ |
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212 | /************************************************************************/ |
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701 | killagreg | 213 | void Mean(void) |
683 | killagreg | 214 | { |
701 | killagreg | 215 | static int32_t tmpl,tmpl2; |
401 | hbuss | 216 | |
703 | killagreg | 217 | // Get offset corrected gyro readings |
218 | ReadingYaw = AdNeutralYaw - AdValueGyrYaw; |
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219 | ReadingRoll = AdValueGyrRoll - AdNeutralRoll; |
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220 | ReadingPitch = AdValueGyrPitch - AdNeutralPitch; |
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604 | hbuss | 221 | |
703 | killagreg | 222 | DebugOut.Analog[26] = ReadingPitch; |
223 | DebugOut.Analog[28] = ReadingRoll; |
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224 | |||
225 | // Acceleration Sensor |
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226 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
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227 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
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228 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
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229 | |||
701 | killagreg | 230 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
703 | killagreg | 231 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
232 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
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233 | |||
234 | // Yaw |
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235 | Reading_IntegralYaw += ReadingYaw; |
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236 | Reading_IntegralYaw2 += ReadingYaw; |
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237 | |||
238 | // Coupling fraction |
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239 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
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240 | { |
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241 | tmpl = Reading_IntegralPitch / 4096L; |
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242 | tmpl *= ReadingYaw; |
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706 | killagreg | 243 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
703 | killagreg | 244 | tmpl /= 2048L; |
245 | tmpl2 = Reading_IntegralRoll / 4096L; |
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246 | tmpl2 *= ReadingYaw; |
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706 | killagreg | 247 | tmpl2 *= FCParam.Yaw_PosFeedback; |
703 | killagreg | 248 | tmpl2 /= 2048L; |
249 | } |
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250 | else tmpl = tmpl2 = 0; |
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251 | // Roll |
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252 | ReadingRoll += tmpl; |
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706 | killagreg | 253 | ReadingRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
703 | killagreg | 254 | Reading_IntegralRoll2 += ReadingRoll; |
255 | Reading_IntegralRoll += ReadingRoll - AttitudeCorrectionRoll; |
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256 | if(Reading_IntegralRoll > TurnOver180Roll) |
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257 | { |
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258 | Reading_IntegralRoll = -(TurnOver180Roll - 10000L); |
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259 | Reading_IntegralRoll2 = Reading_IntegralRoll; |
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260 | } |
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261 | if(Reading_IntegralRoll < -TurnOver180Roll) |
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262 | { |
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263 | Reading_IntegralRoll = (TurnOver180Roll - 10000L); |
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264 | Reading_IntegralRoll2 = Reading_IntegralRoll; |
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265 | } |
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266 | if(AdValueGyrRoll < 15) ReadingRoll = -1000; |
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267 | if(AdValueGyrRoll < 7) ReadingRoll = -2000; |
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268 | if(BoardRelease == 10) |
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269 | { |
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270 | if(AdValueGyrRoll > 1010) ReadingRoll = +1000; |
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271 | if(AdValueGyrRoll > 1017) ReadingRoll = +2000; |
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272 | } |
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273 | else |
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274 | { |
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275 | if(AdValueGyrRoll > 2020) ReadingRoll = +1000; |
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276 | if(AdValueGyrRoll > 2034) ReadingRoll = +2000; |
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277 | } |
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278 | // Pitch |
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279 | ReadingPitch -= tmpl2; |
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706 | killagreg | 280 | ReadingPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
703 | killagreg | 281 | Reading_IntegralPitch2 += ReadingPitch; |
282 | Reading_IntegralPitch += ReadingPitch - AttitudeCorrectionPitch; |
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283 | if(Reading_IntegralPitch > TurnOver180Pitch) |
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284 | { |
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285 | Reading_IntegralPitch = -(TurnOver180Pitch - 10000L); |
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286 | Reading_IntegralPitch2 = Reading_IntegralPitch; |
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287 | } |
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288 | if(Reading_IntegralPitch < -TurnOver180Pitch) |
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289 | { |
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290 | Reading_IntegralPitch = (TurnOver180Pitch - 10000L); |
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291 | Reading_IntegralPitch2 = Reading_IntegralPitch; |
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292 | } |
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293 | if(AdValueGyrPitch < 15) ReadingPitch = -1000; |
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294 | if(AdValueGyrPitch < 7) ReadingPitch = -2000; |
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295 | if(BoardRelease == 10) |
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296 | { |
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297 | if(AdValueGyrPitch > 1010) ReadingPitch = +1000; |
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298 | if(AdValueGyrPitch > 1017) ReadingPitch = +2000; |
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299 | } |
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300 | else |
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301 | { |
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302 | if(AdValueGyrPitch > 2020) ReadingPitch = +1000; |
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303 | if(AdValueGyrPitch > 2034) ReadingPitch = +2000; |
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304 | } |
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305 | |||
306 | // start ADC |
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683 | killagreg | 307 | ADC_Enable(); |
395 | hbuss | 308 | |
703 | killagreg | 309 | IntegralYaw = Reading_IntegralYaw; |
701 | killagreg | 310 | IntegralPitch = Reading_IntegralPitch; |
311 | IntegralRoll = Reading_IntegralRoll; |
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312 | IntegralPitch2 = Reading_IntegralPitch2; |
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313 | IntegralRoll2 = Reading_IntegralRoll2; |
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1 | ingob | 314 | |
703 | killagreg | 315 | if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll) |
316 | { |
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317 | if(ReadingPitch > 200) ReadingPitch += 4 * (ReadingPitch - 200); |
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318 | else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200); |
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319 | if(ReadingRoll > 200) ReadingRoll += 4 * (ReadingRoll - 200); |
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320 | else if(ReadingRoll < -200) ReadingRoll += 4 * (ReadingRoll + 200); |
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321 | } |
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322 | //update poti values by rc-signals (why not +127?) |
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690 | killagreg | 323 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
324 | 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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325 | 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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326 | 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 | 327 | //limit poti values |
1 | ingob | 328 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
329 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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330 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
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331 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
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332 | } |
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333 | |||
703 | killagreg | 334 | /************************************************************************/ |
335 | /* Averaging Measurement Readings for Calibration */ |
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336 | /************************************************************************/ |
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701 | killagreg | 337 | void CalibMean(void) |
683 | killagreg | 338 | { |
703 | killagreg | 339 | // stop ADC to avoid changing values during calculation |
683 | killagreg | 340 | ADC_Disable(); |
703 | killagreg | 341 | |
701 | killagreg | 342 | ReadingPitch = AdValueGyrPitch; |
343 | ReadingRoll = AdValueGyrRoll; |
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344 | ReadingYaw = AdValueGyrYaw; |
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703 | killagreg | 345 | |
346 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
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347 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
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348 | Mean_AccTop = (int32_t)AdValueAccTop; |
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349 | // start ADC |
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683 | killagreg | 350 | ADC_Enable(); |
703 | killagreg | 351 | //update poti values by rc-signals (why not +127?) |
690 | killagreg | 352 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
353 | 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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354 | 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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355 | 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 | 356 | //limit poti values |
1 | ingob | 357 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
358 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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359 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
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360 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
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395 | hbuss | 361 | |
703 | killagreg | 362 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
363 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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1 | ingob | 364 | } |
365 | |||
703 | killagreg | 366 | /************************************************************************/ |
367 | /* Transmit Motor Data via I2C */ |
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368 | /************************************************************************/ |
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1 | ingob | 369 | void SendMotorData(void) |
683 | killagreg | 370 | { |
701 | killagreg | 371 | if(MOTOR_OFF || !MotorsOn) |
703 | killagreg | 372 | { |
701 | killagreg | 373 | Motor_Rear = 0; |
374 | Motor_Front = 0; |
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375 | Motor_Right = 0; |
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376 | Motor_Left = 0; |
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377 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
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378 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
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379 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
||
380 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
||
703 | killagreg | 381 | } |
1 | ingob | 382 | |
701 | killagreg | 383 | DebugOut.Analog[12] = Motor_Front; |
384 | DebugOut.Analog[13] = Motor_Rear; |
||
385 | DebugOut.Analog[14] = Motor_Left; |
||
386 | DebugOut.Analog[15] = Motor_Right; |
||
1 | ingob | 387 | |
388 | //Start I2C Interrupt Mode |
||
389 | twi_state = 0; |
||
390 | motor = 0; |
||
683 | killagreg | 391 | i2c_start(); |
1 | ingob | 392 | } |
393 | |||
394 | |||
395 | |||
703 | killagreg | 396 | /************************************************************************/ |
397 | /* Maps the parameter to poti values */ |
||
398 | /************************************************************************/ |
||
399 | void ParameterMapping(void) |
||
1 | ingob | 400 | { |
401 | |||
402 | #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;} |
||
703 | killagreg | 403 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
404 | CHK_POTI(FCParam.AirPressure_D,ParamSet.AirPressure_D,0,100); |
||
405 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
||
406 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
||
407 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
||
408 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
||
409 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
||
410 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
||
411 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
||
412 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
||
413 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
||
414 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
||
415 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
||
416 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
||
417 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
||
418 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
||
419 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
||
707 | killagreg | 420 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
706 | killagreg | 421 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
422 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
||
703 | killagreg | 423 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
1 | ingob | 424 | |
703 | killagreg | 425 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
1 | ingob | 426 | } |
427 | |||
428 | |||
706 | killagreg | 429 | /************************************************************************/ |
430 | /* MotorControl */ |
||
431 | /************************************************************************/ |
||
1 | ingob | 432 | void MotorRegler(void) |
433 | { |
||
706 | killagreg | 434 | int16_t MotorValue, pd_ergebnis, h, tmp_int; |
707 | killagreg | 435 | int16_t YawMixingFraction, ThrustMixingFraction; |
706 | killagreg | 436 | static int32_t SumPitch = 0, SumRoll = 0; |
437 | static int32_t SetPointYaw = 0, tmp_long, tmp_long2; |
||
438 | static int32_t IntegralErrorPitch = 0; |
||
439 | static int32_t IntegralErrorRoll = 0; |
||
440 | static uint16_t RcLostTimer; |
||
441 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
||
442 | static uint16_t Modell_Is_Flying = 0; |
||
443 | static uint8_t EmergencyLanding = 0; |
||
444 | static uint8_t HightControlActive = 0; |
||
445 | static int16_t hoehenregler = 0; |
||
446 | static int8_t TimerDebugOut = 0; |
||
447 | static int8_t StoreNewCompassCourse = 0; |
||
448 | static int32_t CorrectionPitch, CorrectionRoll; |
||
1 | ingob | 449 | |
701 | killagreg | 450 | Mean(); |
683 | killagreg | 451 | |
1 | ingob | 452 | GRN_ON; |
683 | killagreg | 453 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | killagreg | 454 | // determine thrust value |
683 | killagreg | 455 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | killagreg | 456 | ThrustMixingFraction = StickThrust; |
457 | if(ThrustMixingFraction < 0) ThrustMixingFraction = 0; |
||
683 | killagreg | 458 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 459 | // RC-signal is bad |
683 | killagreg | 460 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 461 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
462 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
||
463 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
||
464 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
||
465 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
||
466 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
||
467 | { |
||
468 | if(!PcAccess) // if also no PC-Access via UART |
||
469 | { |
||
470 | if(BeepModulation == 0xFFFF) |
||
471 | { |
||
472 | BeepTime = 15000; // 1.5 seconds |
||
473 | BeepModulation = 0x0C00; |
||
474 | } |
||
475 | } |
||
476 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
||
477 | else // rc lost countdown finished |
||
478 | { |
||
479 | MotorsOn = 0; // stop all motors |
||
480 | EmergencyLanding = 0; // emergency landing is over |
||
481 | } |
||
482 | ROT_ON; // set red led |
||
483 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
||
484 | { |
||
707 | killagreg | 485 | ThrustMixingFraction = ParamSet.EmergencyThrust; // set emergency thrust |
706 | killagreg | 486 | EmergencyLanding = 1; // enable emergency landing |
487 | // set neutral rc inputs |
||
488 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
489 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
490 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
491 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
492 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
493 | } |
||
494 | else MotorsOn = 0; // switch of all motors |
||
495 | } |
||
496 | else |
||
683 | killagreg | 497 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 498 | // RC-signal is good |
683 | killagreg | 499 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 500 | if(SenderOkay > 140) |
501 | { |
||
502 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
||
503 | // reset emergency timer |
||
707 | killagreg | 504 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
505 | if(ThrustMixingFraction > 40) |
||
706 | killagreg | 506 | { |
507 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
||
508 | } |
||
707 | killagreg | 509 | if((Modell_Is_Flying < 200) || (ThrustMixingFraction < 40)) |
706 | killagreg | 510 | { |
511 | SumPitch = 0; |
||
512 | SumRoll = 0; |
||
513 | Reading_IntegralYaw = 0; |
||
514 | Reading_IntegralYaw2 = 0; |
||
515 | } |
||
516 | // if motors are off and the thrust stick is in the upper position |
||
707 | killagreg | 517 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
706 | killagreg | 518 | { |
519 | // and if the yaw stick is in the leftmost position |
||
520 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
683 | killagreg | 521 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 522 | // calibrate the neutral readings of all attitude sensors |
683 | killagreg | 523 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 524 | { |
525 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
526 | { |
||
527 | delay_neutral = 0; |
||
528 | GRN_OFF; |
||
529 | Modell_Is_Flying = 0; |
||
530 | // check roll/pitch stick position |
||
531 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
||
532 | // according to roll/pitch stick position |
||
533 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
||
534 | { |
||
535 | uint8_t setting = 1; // default |
||
536 | // _________ |
||
537 | // |2 3 4| |
||
538 | // | | |
||
539 | // |1 5| |
||
540 | // | | |
||
541 | // |_________| |
||
542 | // |
||
543 | // roll stick leftmost and pitch stick centered --> setting 1 |
||
544 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
||
545 | // roll stick leftmost and pitch stick topmost --> setting 2 |
||
546 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
||
547 | // roll stick centered an pitch stick topmost --> setting 3 |
||
548 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
||
549 | // roll stick rightmost and pitch stick topmost --> setting 4 |
||
550 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
||
551 | // roll stick rightmost and pitch stick centered --> setting 5 |
||
552 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
||
553 | // update active parameter set in eeprom |
||
554 | SetActiveParamSet(setting); |
||
555 | } |
||
556 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
557 | SetNeutral(); |
||
558 | Beep(GetActiveParamSet()); |
||
559 | } |
||
560 | } |
||
561 | // and if the yaw stick is in the rightmost position |
||
562 | // save the ACC neutral setting to eeprom |
||
563 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
564 | { |
||
565 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
566 | { |
||
567 | delay_neutral = 0; |
||
568 | GRN_OFF; |
||
569 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
||
570 | Modell_Is_Flying = 0; |
||
571 | SetNeutral(); |
||
572 | // Save ACC neutral settings to eeprom |
||
573 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
||
574 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
575 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
||
576 | Beep(GetActiveParamSet()); |
||
577 | } |
||
578 | } |
||
579 | else delay_neutral = 0; |
||
580 | } |
||
683 | killagreg | 581 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 582 | // thrust stick is down |
683 | killagreg | 583 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | killagreg | 584 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
706 | killagreg | 585 | { |
683 | killagreg | 586 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 587 | // and yaw stick is rightmost --> start motors |
683 | killagreg | 588 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 589 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
590 | { |
||
591 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
592 | { |
||
593 | delay_startmotors = 200; // do not repeat if once executed |
||
594 | Modell_Is_Flying = 1; |
||
595 | MotorsOn = 1; |
||
596 | SetPointYaw = 0; |
||
597 | Reading_IntegralYaw = 0; |
||
598 | Reading_IntegralYaw2 = 0; |
||
599 | Reading_IntegralPitch = 0; |
||
600 | Reading_IntegralRoll = 0; |
||
601 | Reading_IntegralPitch2 = IntegralPitch; |
||
602 | Reading_IntegralRoll2 = IntegralRoll; |
||
603 | SumPitch = 0; |
||
604 | SumRoll = 0; |
||
605 | } |
||
606 | } |
||
607 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
||
683 | killagreg | 608 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 609 | // and yaw stick is leftmost --> stop motors |
683 | killagreg | 610 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 611 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
612 | { |
||
613 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
614 | { |
||
615 | delay_stopmotors = 200; // do not repeat if once executed |
||
616 | Modell_Is_Flying = 0; |
||
617 | MotorsOn = 0; |
||
1 | ingob | 618 | |
706 | killagreg | 619 | } |
620 | } |
||
621 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
||
622 | } |
||
623 | } |
||
683 | killagreg | 624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 625 | // new values from RC |
683 | killagreg | 626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 627 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
628 | { |
||
629 | int tmp_int; |
||
630 | ParameterMapping(); // remapping params (online poti replacement) |
||
604 | hbuss | 631 | |
706 | killagreg | 632 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
633 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
||
634 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
||
635 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
||
636 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
595 | hbuss | 637 | |
707 | killagreg | 638 | // direct mapping of yaw and thrust |
706 | killagreg | 639 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
707 | killagreg | 640 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
614 | hbuss | 641 | |
706 | killagreg | 642 | // update max stick positions for pitch and roll |
643 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
||
644 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
||
645 | else MaxStickPitch--; |
||
646 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
||
647 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
||
648 | else MaxStickRoll--; |
||
1 | ingob | 649 | |
706 | killagreg | 650 | // update gyro control loop factors |
651 | |||
652 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
||
653 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
||
654 | |||
595 | hbuss | 655 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 656 | // Digital Control via DubWise |
595 | hbuss | 657 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 658 | |
706 | killagreg | 659 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
660 | if(DubWiseKeys[1]) BeepTime = 10; |
||
661 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
||
662 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
||
663 | else tmp_int = 0; |
||
664 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
||
665 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
||
666 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
||
667 | else tmp_int = 0; |
||
668 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
||
492 | hbuss | 669 | |
706 | killagreg | 670 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
671 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
||
672 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
||
673 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
||
674 | |||
675 | StickPitch += ExternStickPitch / 8; |
||
676 | StickRoll += ExternStickRoll / 8; |
||
677 | StickYaw += ExternStickYaw; |
||
678 | |||
595 | hbuss | 679 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 680 | //+ Analoge Control via serial communication |
595 | hbuss | 681 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 682 | |
706 | killagreg | 683 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
684 | { |
||
685 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
||
686 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
||
687 | StickYaw += ExternControl.Yaw; |
||
688 | ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
||
707 | killagreg | 689 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
706 | killagreg | 690 | } |
691 | // disable I part of gyro control feedback |
||
692 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
||
693 | // avoid negative scaling factors |
||
694 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
||
695 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
||
696 | |||
683 | killagreg | 697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 698 | // Looping? |
683 | killagreg | 699 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 700 | |
706 | killagreg | 701 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
702 | else |
||
703 | { |
||
704 | { |
||
705 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
||
706 | } |
||
707 | } |
||
708 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
||
709 | else |
||
710 | { |
||
711 | if(Looping_Right) // Hysterese |
||
712 | { |
||
713 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
||
714 | } |
||
715 | } |
||
395 | hbuss | 716 | |
706 | killagreg | 717 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
718 | else |
||
719 | { |
||
720 | if(Looping_Top) // Hysterese |
||
721 | { |
||
722 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
||
723 | } |
||
724 | } |
||
725 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
||
726 | else |
||
727 | { |
||
728 | if(Looping_Down) // Hysterese |
||
729 | { |
||
730 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
||
731 | } |
||
732 | } |
||
395 | hbuss | 733 | |
706 | killagreg | 734 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
735 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
||
707 | killagreg | 736 | } // End of new RC-Values or Emergency Landing |
173 | holgerb | 737 | |
683 | killagreg | 738 | |
706 | killagreg | 739 | if(Looping_Roll) BeepTime = 100; |
740 | if(Looping_Roll || Looping_Pitch) |
||
741 | { |
||
707 | killagreg | 742 | if(ThrustMixingFraction > ParamSet.LoopThrustLimit) ThrustMixingFraction = ParamSet.LoopThrustLimit; |
706 | killagreg | 743 | } |
744 | |||
683 | killagreg | 745 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 746 | // in case of emergency landing |
683 | killagreg | 747 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | killagreg | 748 | // set all inputs to save values |
706 | killagreg | 749 | if(EmergencyLanding) |
750 | { |
||
751 | StickYaw = 0; |
||
752 | StickPitch = 0; |
||
753 | StickRoll = 0; |
||
754 | Gyro_P_Factor = 0.5; |
||
755 | Gyro_I_Factor = 0.003; |
||
756 | Looping_Roll = 0; |
||
757 | Looping_Pitch = 0; |
||
758 | MaxStickPitch = 0; |
||
759 | MaxStickRoll = 0; |
||
760 | } |
||
395 | hbuss | 761 | |
683 | killagreg | 762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 763 | // Trim Gyro-Integrals to ACC-Signals |
683 | killagreg | 764 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 765 | |
706 | killagreg | 766 | #define ABGLEICH_ANZAHL 256L |
395 | hbuss | 767 | |
706 | killagreg | 768 | MeanIntegralPitch += IntegralPitch; // sum for averaging |
769 | MeanIntegralRoll += IntegralRoll; |
||
770 | MeanIntegralPitch2 += IntegralPitch2; |
||
771 | MeanIntegralRoll2 += IntegralRoll2; |
||
395 | hbuss | 772 | |
706 | killagreg | 773 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
774 | { |
||
775 | IntegralAccPitch = 0; |
||
776 | IntegralAccRoll = 0; |
||
777 | MeanIntegralPitch = 0; |
||
778 | MeanIntegralRoll = 0; |
||
779 | MeanIntegralPitch2 = 0; |
||
780 | MeanIntegralRoll2 = 0; |
||
781 | Reading_IntegralPitch2 = Reading_IntegralPitch; |
||
782 | Reading_IntegralRoll2 = Reading_IntegralRoll; |
||
783 | ZaehlMessungen = 0; |
||
784 | AttitudeCorrectionPitch = 0; |
||
785 | AttitudeCorrectionRoll = 0; |
||
786 | } |
||
787 | |||
683 | killagreg | 788 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | killagreg | 789 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
790 | { |
||
791 | int32_t tmp_long, tmp_long2; |
||
792 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
||
793 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
||
794 | tmp_long /= 16; |
||
795 | tmp_long2 /= 16; |
||
796 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
||
797 | { |
||
798 | tmp_long /= 3; |
||
799 | tmp_long2 /= 3; |
||
800 | } |
||
801 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) |
||
802 | { |
||
803 | tmp_long /= 3; |
||
804 | tmp_long2 /= 3; |
||
805 | } |
||
614 | hbuss | 806 | |
707 | killagreg | 807 | #define BALANCE 32 |
808 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
||
809 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
||
810 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
||
811 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
||
614 | hbuss | 812 | |
706 | killagreg | 813 | Reading_IntegralPitch -= tmp_long; |
814 | Reading_IntegralRoll -= tmp_long2; |
||
815 | } |
||
683 | killagreg | 816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
469 | hbuss | 817 | |
395 | hbuss | 818 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
819 | { |
||
820 | static int cnt = 0; |
||
821 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
701 | killagreg | 822 | static long MeanIntegralPitch_old,MeanIntegralRoll_old; |
823 | if(!Looping_Pitch && !Looping_Roll) |
||
173 | holgerb | 824 | { |
701 | killagreg | 825 | MeanIntegralPitch /= ABGLEICH_ANZAHL; |
826 | MeanIntegralRoll /= ABGLEICH_ANZAHL; |
||
827 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / ABGLEICH_ANZAHL; |
||
687 | killagreg | 828 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
395 | hbuss | 829 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
492 | hbuss | 830 | #define MAX_I 0//(Poti2/10) |
701 | killagreg | 831 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
832 | IntegralErrorPitch = (long)(MeanIntegralPitch - (long)IntegralAccPitch); |
||
833 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
||
683 | killagreg | 834 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 835 | IntegralErrorRoll = (long)(MeanIntegralRoll - (long)IntegralAccRoll); |
836 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
||
614 | hbuss | 837 | |
701 | killagreg | 838 | AttitudeCorrectionPitch = CorrectionPitch / ABGLEICH_ANZAHL; |
839 | AttitudeCorrectionRoll = CorrectionRoll / ABGLEICH_ANZAHL; |
||
395 | hbuss | 840 | |
701 | killagreg | 841 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
614 | hbuss | 842 | { |
701 | killagreg | 843 | AttitudeCorrectionPitch /= 2; |
844 | AttitudeCorrectionPitch /= 2; |
||
614 | hbuss | 845 | } |
498 | hbuss | 846 | |
683 | killagreg | 847 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 848 | // Gyro-Drift ermitteln |
683 | killagreg | 849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 850 | MeanIntegralPitch2 /= ABGLEICH_ANZAHL; |
851 | MeanIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
852 | tmp_long = IntegralPitch2 - IntegralPitch; |
||
683 | killagreg | 853 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
701 | killagreg | 854 | //DebugOut.Analog[25] = MeanIntegralRoll2 / 26; |
395 | hbuss | 855 | |
701 | killagreg | 856 | IntegralErrorPitch = tmp_long; |
857 | IntegralErrorRoll = tmp_long2; |
||
858 | Reading_IntegralPitch2 -= IntegralErrorPitch; |
||
859 | Reading_IntegralRoll2 -= IntegralErrorRoll; |
||
395 | hbuss | 860 | |
701 | killagreg | 861 | // IntegralErrorPitch = (IntegralErrorPitch * 1 + tmp_long) / 2; |
862 | // IntegralErrorRoll = (IntegralErrorRoll * 1 + tmp_long2) / 2; |
||
395 | hbuss | 863 | |
864 | |||
701 | killagreg | 865 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
395 | hbuss | 866 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
701 | killagreg | 867 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
868 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
||
869 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
||
870 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
||
871 | //DebugOut.Analog[28] = CorrectionPitch; |
||
872 | DebugOut.Analog[29] = CorrectionRoll; |
||
873 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
||
395 | hbuss | 874 | |
492 | hbuss | 875 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
876 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
||
877 | #define BEWEGUNGS_LIMIT 20000 |
||
701 | killagreg | 878 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
879 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
||
880 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < BEWEGUNGS_LIMIT) |
||
492 | hbuss | 881 | { |
701 | killagreg | 882 | if(IntegralErrorPitch > FEHLER_LIMIT2) |
395 | hbuss | 883 | { |
683 | killagreg | 884 | if(last_n_p) |
395 | hbuss | 885 | { |
701 | killagreg | 886 | cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2; |
887 | CorrectionPitch = IntegralErrorPitch / 8; |
||
888 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
||
889 | AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL; |
||
683 | killagreg | 890 | } |
395 | hbuss | 891 | else last_n_p = 1; |
892 | } else last_n_p = 0; |
||
701 | killagreg | 893 | if(IntegralErrorPitch < -FEHLER_LIMIT2) |
395 | hbuss | 894 | { |
895 | if(last_n_n) |
||
683 | killagreg | 896 | { |
701 | killagreg | 897 | cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2; |
898 | CorrectionPitch = IntegralErrorPitch / 8; |
||
899 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
||
900 | AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL; |
||
683 | killagreg | 901 | } |
395 | hbuss | 902 | else last_n_n = 1; |
903 | } else last_n_n = 0; |
||
492 | hbuss | 904 | } else cnt = 0; |
690 | killagreg | 905 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
701 | killagreg | 906 | if(IntegralErrorPitch > FEHLER_LIMIT) AdNeutralPitch += cnt; |
907 | if(IntegralErrorPitch < -FEHLER_LIMIT) AdNeutralPitch -= cnt; |
||
401 | hbuss | 908 | |
395 | hbuss | 909 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 910 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
492 | hbuss | 911 | |
701 | killagreg | 912 | CorrectionRoll = 0; |
913 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < BEWEGUNGS_LIMIT) |
||
492 | hbuss | 914 | { |
701 | killagreg | 915 | if(IntegralErrorRoll > FEHLER_LIMIT2) |
395 | hbuss | 916 | { |
683 | killagreg | 917 | if(last_r_p) |
395 | hbuss | 918 | { |
701 | killagreg | 919 | cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2; |
920 | CorrectionRoll = IntegralErrorRoll / 8; |
||
921 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
||
922 | AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL; |
||
683 | killagreg | 923 | } |
395 | hbuss | 924 | else last_r_p = 1; |
925 | } else last_r_p = 0; |
||
701 | killagreg | 926 | if(IntegralErrorRoll < -FEHLER_LIMIT2) |
395 | hbuss | 927 | { |
683 | killagreg | 928 | if(last_r_n) |
395 | hbuss | 929 | { |
701 | killagreg | 930 | cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2; |
931 | CorrectionRoll = IntegralErrorRoll / 8; |
||
932 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
||
933 | AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL; |
||
395 | hbuss | 934 | } |
935 | else last_r_n = 1; |
||
936 | } else last_r_n = 0; |
||
683 | killagreg | 937 | } else |
492 | hbuss | 938 | { |
939 | cnt = 0; |
||
683 | killagreg | 940 | } |
614 | hbuss | 941 | |
690 | killagreg | 942 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
701 | killagreg | 943 | if(IntegralErrorRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
944 | if(IntegralErrorRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
945 | DebugOut.Analog[27] = CorrectionRoll; |
||
946 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
||
401 | hbuss | 947 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
173 | holgerb | 948 | } |
683 | killagreg | 949 | else |
498 | hbuss | 950 | { |
701 | killagreg | 951 | AttitudeCorrectionRoll = 0; |
952 | AttitudeCorrectionPitch = 0; |
||
498 | hbuss | 953 | } |
595 | hbuss | 954 | |
706 | killagreg | 955 | if(!Gyro_I_Factor) { AttitudeCorrectionRoll = 0; AttitudeCorrectionPitch = 0;} // z.B. bei HH |
683 | killagreg | 956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 957 | MeanIntegralPitch_old = MeanIntegralPitch; |
958 | MeanIntegralRoll_old = MeanIntegralRoll; |
||
683 | killagreg | 959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 960 | IntegralAccPitch = 0; |
395 | hbuss | 961 | IntegralAccRoll = 0; |
962 | IntegralAccZ = 0; |
||
701 | killagreg | 963 | MeanIntegralPitch = 0; |
964 | MeanIntegralRoll = 0; |
||
965 | MeanIntegralPitch2 = 0; |
||
966 | MeanIntegralRoll2 = 0; |
||
395 | hbuss | 967 | ZaehlMessungen = 0; |
968 | } |
||
706 | killagreg | 969 | //DebugOut.Analog[31] = StickRoll / (26*Gyro_I_Factor); |
395 | hbuss | 970 | |
683 | killagreg | 971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 972 | // Gieren |
683 | killagreg | 973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 974 | if(abs(StickYaw) > 20) // war 35 |
1 | ingob | 975 | { |
701 | killagreg | 976 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
1 | ingob | 977 | } |
701 | killagreg | 978 | tmp_int = (long) ParamSet.Yaw_P * ((long)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
979 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
||
980 | SetPointYaw = tmp_int; |
||
703 | killagreg | 981 | Reading_IntegralYaw -= tmp_int; |
982 | if(Reading_IntegralYaw > 50000) Reading_IntegralYaw = 50000; // begrenzen |
||
983 | if(Reading_IntegralYaw <-50000) Reading_IntegralYaw =-50000; |
||
683 | killagreg | 984 | |
985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 986 | // Kompass |
683 | killagreg | 987 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | killagreg | 988 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
989 | { |
||
990 | int w,v; |
||
701 | killagreg | 991 | static uint8_t updCompass = 0; |
694 | killagreg | 992 | |
701 | killagreg | 993 | if (!updCompass--) // Aufruf mit ~10 Hz |
694 | killagreg | 994 | { |
701 | killagreg | 995 | CompassHeading = MM3_heading(); // get current compass reading |
996 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
||
997 | updCompass = 50; |
||
694 | killagreg | 998 | } |
999 | |||
701 | killagreg | 1000 | w = abs(IntegralPitch /512); // mit zunehmender Neigung den Einfluss drosseln |
694 | killagreg | 1001 | v = abs(IntegralRoll /512); |
1002 | if(v > w) w = v; // grösste Neigung ermitteln |
||
701 | killagreg | 1003 | if(w < 35 && StoreNewCompassCourse) |
694 | killagreg | 1004 | { |
701 | killagreg | 1005 | CompassCourse = CompassHeading; |
1006 | StoreNewCompassCourse = 0; |
||
694 | killagreg | 1007 | } |
703 | killagreg | 1008 | w = (w * FCParam.CompassYawEffect) / 64; // auf die Wirkung normieren |
1009 | w = FCParam.CompassYawEffect - w; // Wirkung ggf drosseln |
||
694 | killagreg | 1010 | if(w > 0) |
683 | killagreg | 1011 | { |
703 | killagreg | 1012 | Reading_IntegralYaw -= (CompassOffCourse * w) / 32; // nach Kompass ausrichten |
694 | killagreg | 1013 | } |
683 | killagreg | 1014 | } |
1015 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1016 | |
683 | killagreg | 1017 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1018 | // Debugwerte zuordnen |
683 | killagreg | 1019 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 1020 | if(!TimerDebugOut--) |
1 | ingob | 1021 | { |
701 | killagreg | 1022 | TimerDebugOut = 24; |
1023 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
||
687 | killagreg | 1024 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
701 | killagreg | 1025 | DebugOut.Analog[2] = Mean_AccPitch; |
1026 | DebugOut.Analog[3] = Mean_AccRoll; |
||
1027 | DebugOut.Analog[4] = ReadingYaw; |
||
1028 | DebugOut.Analog[5] = ReadingHight; |
||
1029 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
||
1030 | DebugOut.Analog[8] = CompassHeading; |
||
297 | holgerb | 1031 | DebugOut.Analog[9] = UBat; |
1032 | DebugOut.Analog[10] = SenderOkay; |
||
701 | killagreg | 1033 | DebugOut.Analog[16] = Mean_AccTop; |
173 | holgerb | 1034 | |
1035 | /* DebugOut.Analog[16] = motor_rx[0]; |
||
1036 | DebugOut.Analog[17] = motor_rx[1]; |
||
1037 | DebugOut.Analog[18] = motor_rx[2]; |
||
1038 | DebugOut.Analog[19] = motor_rx[3]; |
||
1039 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
1040 | DebugOut.Analog[20] /= 14; |
||
1041 | DebugOut.Analog[21] = motor_rx[4]; |
||
1042 | DebugOut.Analog[22] = motor_rx[5]; |
||
1043 | DebugOut.Analog[23] = motor_rx[6]; |
||
1044 | DebugOut.Analog[24] = motor_rx[7]; |
||
1045 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
1046 | */ |
||
701 | killagreg | 1047 | // DebugOut.Analog[9] = ReadingPitch; |
1048 | // DebugOut.Analog[9] = SetPointHight; |
||
703 | killagreg | 1049 | // DebugOut.Analog[10] = Reading_IntegralYaw / 128; |
701 | killagreg | 1050 | // DebugOut.Analog[11] = CompassCourse; |
703 | killagreg | 1051 | // DebugOut.Analog[10] = FCParam.Gyro_I; |
687 | killagreg | 1052 | // DebugOut.Analog[10] = ParamSet.Gyro_I; |
701 | killagreg | 1053 | // DebugOut.Analog[9] = CompassOffCourse; |
707 | killagreg | 1054 | // DebugOut.Analog[10] = ThrustMixingFraction; |
703 | killagreg | 1055 | // DebugOut.Analog[3] = HightD * 32; |
1 | ingob | 1056 | // DebugOut.Analog[4] = hoehenregler; |
1057 | } |
||
1058 | |||
683 | killagreg | 1059 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1060 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
683 | killagreg | 1061 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 1062 | //DebugOut.Analog[26] = ReadingPitch; |
1063 | //DebugOut.Analog[28] = ReadingRoll; |
||
604 | hbuss | 1064 | |
706 | killagreg | 1065 | if(Looping_Pitch) ReadingPitch = ReadingPitch * Gyro_P_Factor; |
1066 | else ReadingPitch = IntegralPitch * Gyro_I_Factor + ReadingPitch * Gyro_P_Factor; |
||
1067 | if(Looping_Roll) ReadingRoll = ReadingRoll * Gyro_P_Factor; |
||
1068 | else ReadingRoll = IntegralRoll * Gyro_I_Factor + ReadingRoll * Gyro_P_Factor; |
||
1069 | ReadingYaw = ReadingYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
||
1 | ingob | 1070 | |
706 | killagreg | 1071 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1072 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
||
701 | killagreg | 1073 | DebugOut.Analog[28] = ReadingRoll; |
469 | hbuss | 1074 | |
1 | ingob | 1075 | // Maximalwerte abfangen |
1076 | #define MAX_SENSOR 2048 |
||
701 | killagreg | 1077 | if(ReadingPitch > MAX_SENSOR) ReadingPitch = MAX_SENSOR; |
1078 | if(ReadingPitch < -MAX_SENSOR) ReadingPitch = -MAX_SENSOR; |
||
1079 | if(ReadingRoll > MAX_SENSOR) ReadingRoll = MAX_SENSOR; |
||
1080 | if(ReadingRoll < -MAX_SENSOR) ReadingRoll = -MAX_SENSOR; |
||
1081 | if(ReadingYaw > MAX_SENSOR) ReadingYaw = MAX_SENSOR; |
||
1082 | if(ReadingYaw < -MAX_SENSOR) ReadingYaw = -MAX_SENSOR; |
||
1 | ingob | 1083 | |
683 | killagreg | 1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1085 | // Höhenregelung |
1086 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
683 | killagreg | 1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1088 | //OCR0B = 180 - (Poti1 + 120) / 4; |
1089 | //DruckOffsetSetting = OCR0B; |
||
690 | killagreg | 1090 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung |
1 | ingob | 1091 | { |
1092 | int tmp_int; |
||
690 | killagreg | 1093 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) // Regler wird über Schalter gesteuert |
1 | ingob | 1094 | { |
703 | killagreg | 1095 | if(FCParam.MaxHight < 50) |
1 | ingob | 1096 | { |
703 | killagreg | 1097 | SetPointHight = ReadingHight - 20; // FCParam.MaxHight ist der PPM-Wert des Schalters |
701 | killagreg | 1098 | HightControlActive = 0; |
1 | ingob | 1099 | } |
683 | killagreg | 1100 | else |
701 | killagreg | 1101 | HightControlActive = 1; |
1 | ingob | 1102 | } |
683 | killagreg | 1103 | else |
1 | ingob | 1104 | { |
703 | killagreg | 1105 | SetPointHight = ((int) ExternHightValue + (int) FCParam.MaxHight) * (int)ParamSet.Hight_Gain - 20; |
701 | killagreg | 1106 | HightControlActive = 1; |
1 | ingob | 1107 | } |
1108 | |||
701 | killagreg | 1109 | if(EmergencyLanding) SetPointHight = 0; |
1110 | h = ReadingHight; |
||
1111 | if((h > SetPointHight) && HightControlActive) // zu hoch --> drosseln |
||
703 | killagreg | 1112 | { h = ((h - SetPointHight) * (int) FCParam.Hight_P) / 16; // Differenz bestimmen --> P-Anteil |
707 | killagreg | 1113 | h = ThrustMixingFraction - h; // vom Gas abziehen |
703 | killagreg | 1114 | h -= (HightD * FCParam.AirPressure_D)/8; // D-Anteil |
1115 | tmp_int = ((Reading_Integral_Top / 512) * (signed long) FCParam.Hight_ACC_Effect) / 32; |
||
1 | ingob | 1116 | if(tmp_int > 50) tmp_int = 50; |
1117 | else if(tmp_int < -50) tmp_int = -50; |
||
1118 | h -= tmp_int; |
||
683 | killagreg | 1119 | hoehenregler = (hoehenregler*15 + h) / 16; |
707 | killagreg | 1120 | if(hoehenregler < ParamSet.Hight_MinThrust) // nicht unter MIN |
1 | ingob | 1121 | { |
707 | killagreg | 1122 | if(ThrustMixingFraction >= ParamSet.Hight_MinThrust) hoehenregler = ParamSet.Hight_MinThrust; |
1123 | if(ThrustMixingFraction < ParamSet.Hight_MinThrust) hoehenregler = ThrustMixingFraction; |
||
683 | killagreg | 1124 | } |
707 | killagreg | 1125 | if(hoehenregler > ThrustMixingFraction) hoehenregler = ThrustMixingFraction; // nicht mehr als Gas |
1126 | ThrustMixingFraction = hoehenregler; |
||
683 | killagreg | 1127 | } |
1 | ingob | 1128 | } |
707 | killagreg | 1129 | if(ThrustMixingFraction > ParamSet.Trust_Max - 20) ThrustMixingFraction = ParamSet.Trust_Max - 20; |
683 | killagreg | 1130 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1131 | // + Mischer und PI-Regler |
683 | killagreg | 1132 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | killagreg | 1133 | DebugOut.Analog[7] = ThrustMixingFraction; |
683 | killagreg | 1134 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1135 | // Gier-Anteil |
683 | killagreg | 1136 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
188 | holgerb | 1137 | #define MUL_G 1.0 |
701 | killagreg | 1138 | YawMixingFraction = ReadingYaw - SetPointYaw; // Regler für Gier |
1139 | // YawMixingFraction = 0; |
||
173 | holgerb | 1140 | |
707 | killagreg | 1141 | if(YawMixingFraction > (ThrustMixingFraction / 2)) YawMixingFraction = ThrustMixingFraction / 2; |
1142 | if(YawMixingFraction < -(ThrustMixingFraction / 2)) YawMixingFraction = -(ThrustMixingFraction / 2); |
||
1143 | if(YawMixingFraction > ((ParamSet.Trust_Max - ThrustMixingFraction))) YawMixingFraction = ((ParamSet.Trust_Max - ThrustMixingFraction)); |
||
1144 | if(YawMixingFraction < -((ParamSet.Trust_Max - ThrustMixingFraction))) YawMixingFraction = -((ParamSet.Trust_Max - ThrustMixingFraction)); |
||
513 | hbuss | 1145 | |
707 | killagreg | 1146 | if(ThrustMixingFraction < 20) YawMixingFraction = 0; |
683 | killagreg | 1147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 1148 | // Pitch-Achse |
683 | killagreg | 1149 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 1150 | DiffPitch = ReadingPitch - (StickPitch - GPS_Pitch); // Differenz bestimmen |
706 | killagreg | 1151 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-Anteil bei Winkelregelung |
701 | killagreg | 1152 | else SumPitch += DiffPitch; // I-Anteil bei HH |
1153 | if(SumPitch > 16000) SumPitch = 16000; |
||
1154 | if(SumPitch < -16000) SumPitch = -16000; |
||
1155 | pd_ergebnis = DiffPitch + Ki * SumPitch; // PI-Regler für Pitch |
||
1 | ingob | 1156 | // Motor Vorn |
707 | killagreg | 1157 | tmp_int = (long)((long)FCParam.DynamicStability * (long)(ThrustMixingFraction + abs(YawMixingFraction)/2)) / 64; |
683 | killagreg | 1158 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
1159 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
173 | holgerb | 1160 | |
707 | killagreg | 1161 | MotorValue = ThrustMixingFraction + pd_ergebnis + YawMixingFraction; // Mischer |
701 | killagreg | 1162 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1163 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1164 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1165 | Motor_Front = MotorValue; |
1 | ingob | 1166 | // Motor Heck |
707 | killagreg | 1167 | MotorValue = ThrustMixingFraction - pd_ergebnis + YawMixingFraction; |
701 | killagreg | 1168 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1169 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1170 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1171 | Motor_Rear = MotorValue; |
683 | killagreg | 1172 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1173 | // Roll-Achse |
683 | killagreg | 1174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | killagreg | 1175 | DiffRoll = ReadingRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
706 | killagreg | 1176 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
701 | killagreg | 1177 | else SumRoll += DiffRoll; // I-Anteil bei HH |
1178 | if(SumRoll > 16000) SumRoll = 16000; |
||
1179 | if(SumRoll < -16000) SumRoll = -16000; |
||
1180 | pd_ergebnis = DiffRoll + Ki * SumRoll; // PI-Regler für Roll |
||
707 | killagreg | 1181 | tmp_int = (long)((long)FCParam.DynamicStability * (long)(ThrustMixingFraction + abs(YawMixingFraction)/2)) / 64; |
683 | killagreg | 1182 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
1183 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
1 | ingob | 1184 | // Motor Links |
707 | killagreg | 1185 | MotorValue = ThrustMixingFraction + pd_ergebnis - YawMixingFraction; |
604 | hbuss | 1186 | #define GRENZE Poti1 |
1187 | |||
701 | killagreg | 1188 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1189 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1190 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1191 | Motor_Left = MotorValue; |
1 | ingob | 1192 | // Motor Rechts |
707 | killagreg | 1193 | MotorValue = ThrustMixingFraction - pd_ergebnis - YawMixingFraction; |
604 | hbuss | 1194 | |
701 | killagreg | 1195 | if ((MotorValue < 0)) MotorValue = 0; |
707 | killagreg | 1196 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1197 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
701 | killagreg | 1198 | Motor_Right = MotorValue; |
1 | ingob | 1199 | // +++++++++++++++++++++++++++++++++++++++++++++++ |
1200 | } |
||
1201 |