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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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; |
||
| 353 | Reading_GyroYaw = AdValueGyrYaw; |
||
| 703 | killagreg | 354 | |
| 355 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
||
| 711 | killagreg | 356 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
| 357 | Mean_AccTop = (int32_t)AdValueAccTop; |
||
| 750 | killagreg | 358 | // start ADC (enables internal trigger so that the ISR in analog.c |
| 359 | // updates the readings once) |
||
| 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--; |
||
| 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 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 762 | killagreg | 1043 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
| 1044 | { |
||
| 1045 | int16_t w,v; |
||
| 1046 | static uint8_t updCompass = 0; |
||
| 1047 | |||
| 1048 | if (!updCompass--) |
||
| 711 | killagreg | 1049 | { |
| 762 | killagreg | 1050 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
| 1051 | // get current compass heading (angule between MK head and magnetic north) |
||
| 1052 | #ifdef USE_MM3 |
||
| 1053 | CompassHeading = MM3_Heading(); |
||
| 1054 | #endif |
||
| 1055 | #ifdef USE_CMPS03 |
||
| 1056 | CompassHeading = CMPS03_Heading(); |
||
| 1057 | #endif |
||
| 694 | killagreg | 1058 | |
| 762 | killagreg | 1059 | if (CompassHeading < 0) // no compass data available |
| 711 | killagreg | 1060 | { |
| 770 | killagreg | 1061 | CompassOffCourse = 0; // disables gyro compass correction |
| 711 | killagreg | 1062 | } |
| 762 | killagreg | 1063 | else // calculate OffCourse (angular deviation from heading to course) |
| 1064 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
||
| 1065 | } |
||
| 1 | ingob | 1066 | |
| 762 | killagreg | 1067 | // reduce compass effect with increasing declination |
| 1068 | w = abs(IntegralPitch / 512); |
||
| 1069 | v = abs(IntegralRoll / 512); |
||
| 1070 | if(v > w) w = v; // get maximum declination |
||
| 770 | killagreg | 1071 | // if declination is small enough then update compass course if neccessary |
| 1072 | if((w < 35) && StoreNewCompassCourse && (CompassHeading>=0) ) // 35 corresponds to a declination of ~14 deg |
||
| 762 | killagreg | 1073 | { |
| 1074 | CompassCourse = CompassHeading; |
||
| 1075 | StoreNewCompassCourse = 0; |
||
| 711 | killagreg | 1076 | } |
| 770 | killagreg | 1077 | 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 | 1078 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
| 1079 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
||
| 1080 | { |
||
| 1081 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
||
| 1082 | } |
||
| 1083 | } |
||
| 683 | killagreg | 1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 726 | killagreg | 1085 | // GPS |
| 1086 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 762 | killagreg | 1087 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| 1088 | { |
||
| 1089 | GPS_P_Factor = FCParam.UserParam5; |
||
| 1090 | GPS_D_Factor = FCParam.UserParam6; |
||
| 1091 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
||
| 1092 | else GPS_Main(Poti3); |
||
| 1093 | } |
||
| 1094 | else |
||
| 1095 | { |
||
| 1096 | GPS_Neutral(); |
||
| 1097 | } |
||
| 726 | killagreg | 1098 | |
| 1099 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1100 | // Debugwerte zuordnen |
| 683 | killagreg | 1101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 762 | killagreg | 1102 | if(!TimerDebugOut--) |
| 1103 | { |
||
| 1104 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
||
| 1105 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
||
| 1106 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
||
| 1107 | DebugOut.Analog[2] = Mean_AccPitch; |
||
| 1108 | DebugOut.Analog[3] = Mean_AccRoll; |
||
| 1109 | DebugOut.Analog[4] = Reading_GyroYaw; |
||
| 1110 | DebugOut.Analog[5] = ReadingHeight; |
||
| 1111 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
||
| 1112 | DebugOut.Analog[8] = CompassHeading; |
||
| 1113 | DebugOut.Analog[9] = UBat; |
||
| 1114 | DebugOut.Analog[10] = SenderOkay; |
||
| 1115 | DebugOut.Analog[16] = Mean_AccTop; |
||
| 173 | holgerb | 1116 | |
| 762 | killagreg | 1117 | /* DebugOut.Analog[16] = motor_rx[0]; |
| 1118 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1119 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1120 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1121 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1122 | DebugOut.Analog[20] /= 14; |
||
| 1123 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1124 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1125 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1126 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1127 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1 | ingob | 1128 | |
| 762 | killagreg | 1129 | DebugOut.Analog[9] = Reading_GyroPitch; |
| 1130 | DebugOut.Analog[9] = SetPointHeight; |
||
| 1131 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
||
| 1132 | DebugOut.Analog[11] = CompassCourse; |
||
| 1133 | DebugOut.Analog[10] = FCParam.Gyro_I; |
||
| 1134 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
||
| 1135 | DebugOut.Analog[9] = CompassOffCourse; |
||
| 1136 | DebugOut.Analog[10] = ThrustMixFraction; |
||
| 1137 | DebugOut.Analog[3] = HeightD * 32; |
||
| 1138 | DebugOut.Analog[4] = HeightControlThrust; |
||
| 1139 | */ |
||
| 1140 | } |
||
| 711 | killagreg | 1141 | |
| 683 | killagreg | 1142 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1143 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
| 683 | killagreg | 1144 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 604 | hbuss | 1145 | |
| 762 | killagreg | 1146 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
| 1147 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
||
| 1148 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
||
| 1149 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
||
| 1150 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
||
| 1 | ingob | 1151 | |
| 762 | killagreg | 1152 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
| 1153 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
||
| 1154 | DebugOut.Analog[28] = Reading_GyroRoll; |
||
| 469 | hbuss | 1155 | |
| 762 | killagreg | 1156 | // limit control feedback |
| 1157 | #define MAX_SENSOR 2048 |
||
| 1158 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
||
| 1159 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
||
| 1160 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
||
| 1161 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
||
| 1162 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
||
| 1163 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
||
| 1 | ingob | 1164 | |
| 683 | killagreg | 1165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 761 | killagreg | 1166 | // Height Control |
| 727 | killagreg | 1167 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
| 683 | killagreg | 1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 762 | killagreg | 1169 | // If hight control is activated and no emergency landing is active |
| 1170 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
||
| 1171 | { |
||
| 1172 | int tmp_int; |
||
| 1173 | // if hight control is activated by an rc channel |
||
| 1174 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
||
| 1175 | { // check if parameter is less than activation threshold |
||
| 1176 | if(FCParam.MaxHeight < 50) |
||
| 711 | killagreg | 1177 | { |
| 762 | killagreg | 1178 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
| 1179 | HeightControlActive = 0; // disable hight control |
||
| 711 | killagreg | 1180 | } |
| 762 | killagreg | 1181 | else HeightControlActive = 1; // enable hight control |
| 1182 | } |
||
| 1183 | else // no switchable hight control |
||
| 1184 | { |
||
| 1185 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
||
| 1186 | HeightControlActive = 1; |
||
| 1187 | } |
||
| 1188 | // get current hight |
||
| 1189 | h = ReadingHeight; |
||
| 1190 | // if current hight is above the setpoint reduce thrust |
||
| 1191 | if((h > SetPointHeight) && HeightControlActive) |
||
| 1192 | { |
||
| 1193 | // hight difference -> P control part |
||
| 1194 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
||
| 1195 | h = ThrustMixFraction - h; // reduce gas |
||
| 1196 | // higth gradient --> D control part |
||
| 1197 | h -= (HeightD * FCParam.Height_D) / 8; // D control part |
||
| 1198 | // acceleration sensor effect |
||
| 1199 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
||
| 1200 | if(tmp_int > 50) tmp_int = 50; |
||
| 1201 | if(tmp_int < -50) tmp_int = -50; |
||
| 1202 | h -= tmp_int; |
||
| 1203 | // update hight control thrust |
||
| 1204 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
||
| 1205 | // limit thrust reduction |
||
| 1206 | if(HeightControlThrust < ParamSet.Height_MinThrust) |
||
| 711 | killagreg | 1207 | { |
| 762 | killagreg | 1208 | if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
| 1209 | // allows landing also if thrust stick is reduced below min thrust on hight control |
||
| 1210 | if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
||
| 711 | killagreg | 1211 | } |
| 762 | killagreg | 1212 | // limit thrust to stick setting |
| 1213 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
||
| 1214 | ThrustMixFraction = HeightControlThrust; |
||
| 711 | killagreg | 1215 | } |
| 762 | killagreg | 1216 | } |
| 1217 | // limit thrust to parameter setting |
||
| 1218 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
||
| 683 | killagreg | 1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1220 | // + Mixer and PI-Controller |
| 683 | killagreg | 1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 762 | killagreg | 1222 | DebugOut.Analog[7] = ThrustMixFraction; |
| 683 | killagreg | 1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1224 | // Yaw-Fraction |
| 683 | killagreg | 1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1226 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
| 173 | holgerb | 1227 | |
| 711 | killagreg | 1228 | // limit YawMixFraction |
| 1229 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
||
| 1230 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
||
| 1231 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
||
| 1232 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
||
| 1233 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
||
| 683 | killagreg | 1234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1235 | // Pitch-Axis |
| 683 | killagreg | 1236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1237 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
| 1238 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
||
| 1239 | else SumPitch += DiffPitch; // I-part for head holding |
||
| 701 | killagreg | 1240 | if(SumPitch > 16000) SumPitch = 16000; |
| 1241 | if(SumPitch < -16000) SumPitch = -16000; |
||
| 711 | killagreg | 1242 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
| 173 | holgerb | 1243 | |
| 711 | killagreg | 1244 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| 1245 | if(pd_result > tmp_int) pd_result = tmp_int; |
||
| 1246 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
| 1247 | |||
| 1248 | // Motor Front |
||
| 1249 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
||
| 701 | killagreg | 1250 | if ((MotorValue < 0)) MotorValue = 0; |
| 707 | killagreg | 1251 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| 1252 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
| 701 | killagreg | 1253 | Motor_Front = MotorValue; |
| 711 | killagreg | 1254 | |
| 1255 | // Motor Rear |
||
| 1256 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
||
| 701 | killagreg | 1257 | if ((MotorValue < 0)) MotorValue = 0; |
| 707 | killagreg | 1258 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| 1259 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
| 701 | killagreg | 1260 | Motor_Rear = MotorValue; |
| 683 | killagreg | 1261 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1262 | // Roll-Axis |
| 683 | killagreg | 1263 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 711 | killagreg | 1264 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
| 1265 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
||
| 1266 | else SumRoll += DiffRoll; // I-part for head holding |
||
| 701 | killagreg | 1267 | if(SumRoll > 16000) SumRoll = 16000; |
| 1268 | if(SumRoll < -16000) SumRoll = -16000; |
||
| 711 | killagreg | 1269 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
| 1270 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
||
| 1271 | if(pd_result > tmp_int) pd_result = tmp_int; |
||
| 1272 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
| 604 | hbuss | 1273 | |
| 711 | killagreg | 1274 | // Motor Left |
| 1275 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
||
| 701 | killagreg | 1276 | if ((MotorValue < 0)) MotorValue = 0; |
| 707 | killagreg | 1277 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| 1278 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
| 701 | killagreg | 1279 | Motor_Left = MotorValue; |
| 604 | hbuss | 1280 | |
| 711 | killagreg | 1281 | // Motor Right |
| 1282 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
||
| 701 | killagreg | 1283 | if ((MotorValue < 0)) MotorValue = 0; |
| 707 | killagreg | 1284 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| 1285 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
||
| 701 | killagreg | 1286 | Motor_Right = MotorValue; |
| 1 | ingob | 1287 | } |
| 1288 |