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1 ingob 1
/*#######################################################################################
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Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 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.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 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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// +     from this software without specific prior written permission.
886 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)
886 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
886 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
831 hbuss 42
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
45
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
492 hbuss 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
886 killagreg 52
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 53
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 54
#include <stdlib.h>
55
#include <avr/io.h>
1 ingob 56
 
57
#include "main.h"
886 killagreg 58
#include "eeprom.h"
59
#include "timer0.h"
60
#include "_Settings.h"
61
#include "analog.h"
62
#include "fc.h"
63
#include "uart.h"
64
#include "rc.h"
65
#include "twimaster.h"
66
#include "timer2.h"
67
#ifdef USE_KILLAGREG
68
#include "mm3.h"
69
#include "gps.h"
70
#endif
71
#if  !defined (USE_KILLAGREG)  && !defined (USE_NAVICTRL)
72
#include "mk3mag.h"
73
#endif
74
#include "led.h"
1 ingob 75
 
886 killagreg 76
volatile uint16_t I2CTimeout = 100;
77
// gyro readings
78
volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
79
// gyro neutral readings
80
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
81
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
82
// mean accelerations
83
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
84
 
85
// neutral acceleration readings
86
volatile int16_t NeutralAccX=0, NeutralAccY=0;
1 ingob 87
volatile float NeutralAccZ = 0;
88
 
886 killagreg 89
// attitude gyro integrals
90
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
91
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
92
volatile int32_t IntegralYaw = 0;
93
volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;
94
volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;
95
volatile int32_t Reading_IntegralGyroYaw = 0;
96
volatile int32_t MeanIntegralPitch;
97
volatile int32_t MeanIntegralRoll;
1 ingob 98
 
886 killagreg 99
// attitude acceleration integrals
100
volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0;
101
volatile int32_t Reading_Integral_Top = 0;
102
 
103
// compass course
104
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
105
volatile int16_t CompassCourse = -1;
106
volatile int16_t CompassOffCourse = 0;
107
volatile uint8_t CompassCalState = 0;
108
uint8_t FunnelCourse = 0;
109
uint16_t BadCompassHeading = 500;
110
int32_t YawGyroHeading;
111
int16_t YawGyroDrift;
112
 
113
 
114
int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0;
115
 
116
 
117
// flags
118
uint8_t MotorsOn = 0;
119
uint8_t EmergencyLanding = 0;
120
uint16_t Model_Is_Flying = 0;
121
 
122
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
123
 
124
float Gyro_P_Factor;
125
float Gyro_I_Factor;
126
 
127
volatile int16_t  DiffPitch, DiffRoll;
128
 
129
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
130
 
131
// setpoints for motors
132
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
133
 
134
// stick values derived by rc channels readings
135
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
136
int16_t GPS_Pitch = 0, GPS_Roll = 0;
137
 
138
int16_t MaxStickPitch = 0, MaxStickRoll = 0;
139
// stick values derived by uart inputs
140
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;
141
 
142
 
143
 
144
 
145
int16_t ReadingHeight = 0;
146
int16_t SetPointHeight = 0;
147
 
148
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
149
 
150
float Ki =  FACTOR_I;
151
 
152
uint8_t Looping_Pitch = 0, Looping_Roll = 0;
153
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
154
 
155
 
156
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};
157
 
158
 
159
/************************************************************************/
160
/*  Creates numbeeps beeps at the speaker                               */
161
/************************************************************************/
162
void Beep(uint8_t numbeeps)
1 ingob 163
{
886 killagreg 164
        while(numbeeps--)
165
        {
166
                if(MotorsOn) return; //auf keinen Fall im Flug!
167
                BeepTime = 100; // 0.1 second
168
                Delay_ms(250); // blocks 250 ms as pause to next beep,
169
                // this will block the flight control loop,
170
                // therefore do not use this funktion if motors are running
171
        }
1 ingob 172
}
173
 
886 killagreg 174
/************************************************************************/
175
/*  Neutral Readings                                                    */
176
/************************************************************************/
1 ingob 177
void SetNeutral(void)
178
{
886 killagreg 179
        NeutralAccX = 0;
1 ingob 180
        NeutralAccY = 0;
181
        NeutralAccZ = 0;
886 killagreg 182
    AdNeutralPitch = 0;
183
        AdNeutralRoll = 0;
184
        AdNeutralYaw = 0;
185
    FCParam.Yaw_PosFeedback = 0;
186
    FCParam.Yaw_NegFeedback = 0;
187
    CalibMean();
395 hbuss 188
    Delay_ms_Mess(100);
886 killagreg 189
        CalibMean();
190
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Height Control activated?
513 hbuss 191
    {
886 killagreg 192
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
513 hbuss 193
    }
886 killagreg 194
        AdNeutralPitch = AdValueGyrPitch;
195
        AdNeutralRoll  = AdValueGyrRoll;
196
        AdNeutralYaw   = AdValueGyrYaw;
197
        StartNeutralRoll  = AdNeutralRoll;
198
        StartNeutralPitch = AdNeutralPitch;
199
    if(GetParamWord(PID_ACC_PITCH) > 1023)
513 hbuss 200
    {
886 killagreg 201
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
202
                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
203
                NeutralAccZ = Current_AccZ;
513 hbuss 204
    }
886 killagreg 205
    else
206
    {
207
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
208
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
209
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
210
    }
211
        Reading_IntegralGyroPitch = 0;
212
    Reading_IntegralGyroPitch2 = 0;
213
    Reading_IntegralGyroRoll = 0;
214
    Reading_IntegralGyroRoll2 = 0;
215
    Reading_IntegralGyroYaw = 0;
216
    Reading_GyroPitch = 0;
217
    Reading_GyroRoll = 0;
218
    Reading_GyroYaw = 0;
219
    StartAirPressure = AirPressure;
220
    HeightD = 0;
221
    Reading_Integral_Top = 0;
222
    CompassCourse = CompassHeading;
223
    BeepTime = 50;
224
        TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L;
225
        TurnOver180Roll =  ((int32_t) ParamSet.AngleTurnOverRoll *  2500L) +15000L;
226
    ExternHeightValue = 0;
227
    GPS_Pitch = 0;
228
    GPS_Roll = 0;
229
    YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR;
230
    YawGyroDrift = 0;
1 ingob 231
}
232
 
886 killagreg 233
/************************************************************************/
234
/*  Averaging Measurement Readings                                      */
235
/************************************************************************/
236
void Mean(void)
237
{
238
    static int32_t tmpl,tmpl2;
401 hbuss 239
 
886 killagreg 240
 // Get offset corrected gyro readings (~ to angular velocity)
241
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
242
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
243
    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;
604 hbuss 244
 
886 killagreg 245
// Acceleration Sensor
246
        // sliding average sensor readings
247
        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
248
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
249
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
250
 
251
        // sum sensor readings for later averaging
252
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
253
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
254
 
255
    NaviAccPitch += AdValueAccPitch;
256
    NaviAccRoll  += AdValueAccRoll;
805 hbuss 257
    NaviCntAcc++;
882 hbuss 258
 
886 killagreg 259
// Yaw
260
        // calculate yaw gyro integral (~ to rotation angle)
261
        Reading_IntegralGyroYaw  += Reading_GyroYaw;
262
        YawGyroHeading += Reading_GyroYaw;
263
    if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR;  // 360° Wrap
264
        if(YawGyroHeading < 0)                             YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR;
395 hbuss 265
 
1 ingob 266
 
886 killagreg 267
        // Coupling fraction
268
        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
269
        {
270
                tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L;
271
                tmpl *= FCParam.Yaw_PosFeedback;
272
                tmpl /= 4096L;
273
                tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L;
274
                tmpl2 *= FCParam.Yaw_PosFeedback;
275
                tmpl2 /= 4096L;
276
                if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1;
277
        }
278
        else  tmpl = tmpl2 = 0;
279
 
280
// Roll
281
        Reading_GyroRoll += tmpl;
282
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L;
283
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
284
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
285
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
286
        {
287
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
288
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
289
        }
290
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
291
        {
292
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
293
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
294
        }
295
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
296
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
297
        if(BoardRelease == 10)
298
        {
299
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
300
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
301
        }
302
        else
303
        {
304
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
305
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
306
        }
307
// Pitch
308
        Reading_GyroPitch -= tmpl2;
309
        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
310
        Reading_IntegralGyroPitch2 += Reading_GyroPitch;
311
        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;
312
        if(Reading_IntegralGyroPitch > TurnOver180Pitch)
313
        {
314
         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L);
315
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
316
        }
317
        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)
318
        {
319
         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 25000L);
320
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
321
        }
322
        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;
323
        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;
324
        if(BoardRelease == 10)
325
        {
326
                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;
327
                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;
328
        }
329
        else
330
        {
331
                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;
332
                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;
333
        }
334
 
335
// start ADC again to capture measurement values for the next loop
336
    ADC_Enable();
337
 
338
    IntegralYaw    = Reading_IntegralGyroYaw;
339
    IntegralPitch  = Reading_IntegralGyroPitch;
340
    IntegralRoll   = Reading_IntegralGyroRoll;
341
    IntegralPitch2 = Reading_IntegralGyroPitch2;
342
    IntegralRoll2  = Reading_IntegralGyroRoll2;
343
 
344
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)
345
        {
346
                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);
347
                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);
348
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
349
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
350
        }
1 ingob 351
}
352
 
886 killagreg 353
/************************************************************************/
354
/*  Averaging Measurement Readings  for Calibration                     */
355
/************************************************************************/
356
void CalibMean(void)
357
{
358
    // stop ADC to avoid changing values during calculation
359
        ADC_Disable();
395 hbuss 360
 
886 killagreg 361
        Reading_GyroPitch = AdValueGyrPitch;
362
        Reading_GyroRoll  = AdValueGyrRoll;
363
        Reading_GyroYaw   = AdValueGyrYaw;
364
 
365
        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
366
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
367
        Mean_AccTop   = (int32_t)AdValueAccTop;
368
    // start ADC (enables internal trigger so that the ISR in analog.c
369
    // updates the readings once)
370
    ADC_Enable();
371
 
372
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
373
        TurnOver180Roll =  (int32_t) ParamSet.AngleTurnOverRoll  * 2500L;
1 ingob 374
}
375
 
886 killagreg 376
/************************************************************************/
377
/*  Transmit Motor Data via I2C                                         */
378
/************************************************************************/
1 ingob 379
void SendMotorData(void)
886 killagreg 380
{
381
    if(MOTOR_OFF || !MotorsOn)
382
    {
383
        Motor_Rear = 0;
384
        Motor_Front = 0;
385
        Motor_Right = 0;
386
        Motor_Left = 0;
387
        if(MotorTest[0]) Motor_Front = MotorTest[0];
388
        if(MotorTest[1]) Motor_Rear  = MotorTest[1];
389
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
390
        if(MotorTest[3]) Motor_Right = MotorTest[3];
391
     }
1 ingob 392
 
886 killagreg 393
    DebugOut.Analog[12] = Motor_Front;
394
    DebugOut.Analog[13] = Motor_Rear;
395
    DebugOut.Analog[14] = Motor_Left;
396
    DebugOut.Analog[15] = Motor_Right;
1 ingob 397
 
398
    //Start I2C Interrupt Mode
399
    twi_state = 0;
400
    motor = 0;
886 killagreg 401
    I2C_Start();
1 ingob 402
}
403
 
404
 
405
 
886 killagreg 406
/************************************************************************/
407
/*  Maps the parameter to poti values                                   */
408
/************************************************************************/
409
void ParameterMapping(void)
1 ingob 410
{
886 killagreg 411
        if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok
412
        // else the last updated values are used
413
        {
414
                 //update poti values by rc-signals
415
                #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;}
416
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);
417
                CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100);
418
                CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100);
419
                CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255);
420
                CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
421
                CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
422
                CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
423
                CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
424
                CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
425
                CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
426
                CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
427
                CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
428
                CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
429
                CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
430
                CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
431
                CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
432
                CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
433
                CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
434
                CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
435
                CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
436
                CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
437
                Ki = (float) FCParam.I_Factor * FACTOR_I;
438
        }
439
}
1 ingob 440
 
441
 
886 killagreg 442
void SetCompassCalState(void)
443
{
444
        static uint8_t stick = 1;
445
 
446
    // if pitch is centered or top set stick to zero
447
        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0;
448
        // if pitch is down trigger to next cal state
449
        if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick)
450
        {
451
                stick = 1;
452
                CompassCalState++;
453
                if(CompassCalState < 5) Beep(CompassCalState);
454
                else BeepTime = 1000;
455
        }
1 ingob 456
}
457
 
458
 
819 hbuss 459
 
886 killagreg 460
/************************************************************************/
461
/*  MotorControl                                                        */
462
/************************************************************************/
463
void MotorControl(void)
1 ingob 464
{
886 killagreg 465
        int16_t MotorValue, pd_result, h, tmp_int;
466
        int16_t YawMixFraction, ThrustMixFraction;
467
        static int32_t SumPitch = 0, SumRoll = 0;
468
        static int32_t SetPointYaw = 0;
469
        static int32_t IntegralErrorPitch = 0;
470
        static int32_t IntegralErrorRoll = 0;
471
        static uint16_t RcLostTimer;
472
        static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
473
        static uint8_t HeightControlActive = 0;
474
        static int16_t HeightControlThrust = 0;
475
        static int8_t TimerDebugOut = 0;
476
        static uint16_t UpdateCompassCourse = 0;
477
        static int32_t CorrectionPitch, CorrectionRoll;
1 ingob 478
 
886 killagreg 479
        Mean();
480
        GRN_ON;
1 ingob 481
 
886 killagreg 482
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
483
// determine thrust value
484
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
485
        ThrustMixFraction = StickThrust;
486
    if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10;
487
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
488
// RC-signal is bad
489
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
490
        if(RC_Quality < 120)  // the rc-frame signal is not reveived or noisy
491
        {
492
                if(!PcAccess) // if also no PC-Access via UART
493
                {
494
                        if(BeepModulation == 0xFFFF)
495
                        {
496
                         BeepTime = 15000; // 1.5 seconds
497
                         BeepModulation = 0x0C00;
498
                        }
499
                }
500
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
501
                else // rc lost countdown finished
502
                {
503
                  MotorsOn = 0; // stop all motors
504
                  EmergencyLanding = 0; // emergency landing is over
505
                }
506
                ROT_ON; // set red led
507
                if(Model_Is_Flying > 1000)  // wahrscheinlich in der Luft --> langsam absenken
508
                {
509
                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust
510
                        EmergencyLanding = 1; // enable emergency landing
511
                        // set neutral rc inputs
512
                        PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
513
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
514
                        PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0;
515
                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
516
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
517
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
518
                }
519
                else MotorsOn = 0; // switch of all motors
520
        } // eof RC_Quality < 120
521
        else
522
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
523
// RC-signal is good
524
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
525
        if(RC_Quality > 140)
526
        {
527
                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
528
                // reset emergency timer
529
                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
530
                if(ThrustMixFraction > 40)
531
                {
532
                        if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
533
                }
534
                if(Model_Is_Flying < 256)
535
                {
536
                        SumPitch = 0;
537
                        SumRoll = 0;
538
                        StickYaw = 0;
539
                        if(Model_Is_Flying == 250) UpdateCompassCourse = 1;
540
                }
604 hbuss 541
 
886 killagreg 542
                if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
543
                if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
544
                if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
545
                if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
546
                //PPM24-Extension
547
                if(Poti5 < PPM_in[9] + 110)  Poti5++; else if(Poti5 >  PPM_in[9] + 110 && Poti5) Poti5--;
548
                if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
549
                if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
550
                if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
551
                //limit poti values
552
                if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
553
                if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
554
                if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
555
                if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
556
                //PPM24-Extension
557
                if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
558
                if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
559
                if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
560
                if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
723 hbuss 561
 
886 killagreg 562
                // if motors are off and the thrust stick is in the upper position
563
                if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)
564
                {
565
                        // and if the yaw stick is in the leftmost position
566
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
567
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
568
// calibrate the neutral readings of all attitude sensors
569
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
570
                        {
571
                                // thrust/yaw joystick is top left
572
                                //  _________
573
                                // |x        |
574
                                // |         |
575
                                // |         |
576
                                // |         |
577
                                // |         |
578
                                //  ¯¯¯¯¯¯¯¯¯
579
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
580
                                {
581
                                        delay_neutral = 0;
582
                                        GRN_OFF;
583
                                        Model_Is_Flying = 0;
584
                                        // check roll/pitch stick position
585
                                        // if pitch stick is top or roll stick is left or right --> change parameter setting
586
                                        // according to roll/pitch stick position
587
                                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
588
                                        {
589
                                                 uint8_t setting = 1; // default
590
                                                 // pitch/roll joystick
591
                                                 //  _________
592
                                                 // |2   3   4|
593
                                                 // |         |
594
                                                 // |1       5|
595
                                                 // |         |
596
                                                 // |         |
597
                                                 //  ¯¯¯¯¯¯¯¯¯
598
                                                 // roll stick leftmost and pitch stick centered --> setting 1
599
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
600
                                                 // roll stick leftmost and pitch stick topmost --> setting 2
601
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
602
                                                 // roll stick centered an pitch stick topmost --> setting 3
603
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
604
                                                 // roll stick rightmost and pitch stick topmost --> setting 4
605
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
606
                                                 // roll stick rightmost and pitch stick centered --> setting 5
607
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
608
                                                 // update active parameter set in eeprom
609
                                                 SetActiveParamSet(setting);
610
                                                 ParamSet_ReadFromEEProm(GetActiveParamSet());
611
                                                 SetNeutral();
612
                                                 Beep(GetActiveParamSet());
613
                                        }
614
                                        else
615
                                        {
616
                                                if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE))
617
                                                {
618
                                                        // if roll stick is centered and pitch stick is down
619
                                                        if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70)
620
                                                        {
621
                                                                // pitch/roll joystick
622
                                                                //  _________
623
                                                                // |         |
624
                                                                // |         |
625
                                                                // |         |
626
                                                                // |         |
627
                                                                // |    x    |
628
                                                                //  ¯¯¯¯¯¯¯¯¯
629
                                                                // enable calibration state of compass
630
                                                                CompassCalState = 1;
631
                                                                BeepTime = 1000;
632
                                                        }
633
                                                        else // pitch and roll are centered
634
                                                        {
635
                                                                ParamSet_ReadFromEEProm(GetActiveParamSet());
636
                                                                SetNeutral();
637
                                                                Beep(GetActiveParamSet());
638
                                                        }
639
                                                }
640
                                                else // pitch and roll are centered
641
                                                {
642
                                                        ParamSet_ReadFromEEProm(GetActiveParamSet());
643
                                                        SetNeutral();
644
                                                        Beep(GetActiveParamSet());
645
                                                }
646
                                        }
647
                                }
648
                        }
649
                        // and if the yaw stick is in the rightmost position
650
                        // save the ACC neutral setting to eeprom
651
                        else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
652
                        {
653
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
654
                                {
655
                                        delay_neutral = 0;
656
                                        GRN_OFF;
657
                                        SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid
658
                                        Model_Is_Flying = 0;
659
                                        SetNeutral();
660
                                        // Save ACC neutral settings to eeprom
661
                                        SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);
662
                                        SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
663
                                        SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
664
                                        Beep(GetActiveParamSet());
665
                                }
666
                        }
667
                        else delay_neutral = 0;
668
                }
669
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
670
// thrust stick is down
671
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
672
                if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)
673
                {
674
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
675
// and yaw stick is rightmost --> start motors
676
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
677
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
678
                        {
679
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
680
                                {
681
                                        delay_startmotors = 200; // do not repeat if once executed
682
                                        Model_Is_Flying = 1;
683
                                        MotorsOn = 1;
684
                                        SetPointYaw = 0;
685
                                        Reading_IntegralGyroYaw = 0;
686
                                        Reading_IntegralGyroPitch = 0;
687
                                        Reading_IntegralGyroRoll = 0;
688
                                        Reading_IntegralGyroPitch2 = IntegralPitch;
689
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
690
                                        SumPitch = 0;
691
                                        SumRoll = 0;
692
                                        #ifdef USE_KILLAGREG
693
                                        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
694
                                        {
695
                                                GPS_SetHomePosition();
696
                                        }
697
                                        #endif
698
                                }
699
                        }
700
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
701
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
702
// and yaw stick is leftmost --> stop motors
703
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
704
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
705
                                {
706
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
707
                                {
708
                                        delay_stopmotors = 200; // do not repeat if once executed
709
                                        Model_Is_Flying = 0;
710
                                        MotorsOn = 0;
711
                                        #ifdef USE_KILLAGREG
712
                                        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
713
                                        {
714
                                                GPS_ClearHomePosition();
715
                                        }
716
                                        #endif
717
                                }
718
                        }
719
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
720
                }
721
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
722
        } // eof RC_Quality > 150
723
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
724
// new values from RC
725
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
726
        if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
727
        {
728
                int tmp_int;
729
                ParameterMapping(); // remapping params (online poti replacement)
730
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
731
                StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
732
                StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
733
                StickPitch -= (GPS_Pitch);
723 hbuss 734
 
886 killagreg 735
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
736
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
737
                StickRoll -= (GPS_Roll);
595 hbuss 738
 
886 killagreg 739
                // direct mapping of yaw and thrust
740
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
741
                StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers
1 ingob 742
 
886 killagreg 743
                // update gyro control loop factors
744
                Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN);
745
                Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN);
746
 
595 hbuss 747
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 748
// Digital Control via DubWise
595 hbuss 749
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 750
 
886 killagreg 751
                #define KEY_VALUE (FCParam.UserParam8 * 4) // step width
752
                if(DubWiseKeys[1]) BeepTime = 10;
753
                if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
754
                else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
755
                else tmp_int = 0;
756
                ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;
757
                if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
758
                else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
759
                else tmp_int = 0;
760
                ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
492 hbuss 761
 
886 killagreg 762
                if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
763
                if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
764
                if(DubWiseKeys[0] & 2)  ExternHeightValue++;
765
                if(DubWiseKeys[0] & 16) ExternHeightValue--;
766
 
767
                StickPitch += (STICK_GAIN * ExternStickPitch) / 8;
768
                StickRoll  += (STICK_GAIN * ExternStickRoll) / 8;
769
                StickYaw   += (STICK_GAIN * ExternStickYaw);
770
 
595 hbuss 771
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 772
//+ Analog control via serial communication
595 hbuss 773
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 774
 
886 killagreg 775
                if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128)
776
                {
777
                         StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;
778
                         StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
779
                         StickYaw += ExternControl.Yaw;
780
                         ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
781
                         if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust;
782
                }
783
                if(StickThrust < 0) StickThrust = 0;
723 hbuss 784
 
886 killagreg 785
                // disable I part of gyro control feedback
786
                if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
787
                // avoid negative scaling factors
788
                if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
789
                if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
723 hbuss 790
 
886 killagreg 791
 
792
                // update max stick positions for pitch and roll
793
 
794
                if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN;
795
                else MaxStickPitch--;
796
                if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN;
797
                else MaxStickRoll--;
798
 
799
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 800
// Looping?
886 killagreg 801
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 802
 
886 killagreg 803
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
804
                else
805
                {
806
                        if(Looping_Left) // Hysteresis
807
                        {
808
                                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
809
                        }
810
                }
811
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
812
                else
813
                {
814
                        if(Looping_Right) // Hysteresis
815
                        {
816
                                if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
817
                        }
818
                }
395 hbuss 819
 
886 killagreg 820
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
821
                else
822
                {
823
                        if(Looping_Top)  // Hysteresis
824
                        {
825
                                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
826
                        }
827
                }
828
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
829
                else
830
                {
831
                        if(Looping_Down) // Hysteresis
832
                        {
833
                                if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
834
                        }
835
                }
395 hbuss 836
 
886 killagreg 837
                if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
838
                if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
839
        } // End of new RC-Values or Emergency Landing
173 holgerb 840
 
395 hbuss 841
 
886 killagreg 842
        if(Looping_Roll) BeepTime = 100;
843
        if(Looping_Roll || Looping_Pitch)
844
        {
845
                if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit;
846
        }
395 hbuss 847
 
848
 
886 killagreg 849
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
850
//+ LED Control on J16/J17
851
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
852
        LED1_Time = FCParam.UserParam7;
853
        LED2_Time = FCParam.UserParam8;
854
        LED_Update();
395 hbuss 855
 
886 killagreg 856
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
857
// in case of emergency landing
858
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
859
        // set all inputs to save values
860
        if(EmergencyLanding)
861
        {
862
                StickYaw = 0;
863
                StickPitch = 0;
864
                StickRoll = 0;
865
                Gyro_P_Factor  = (float) 100 / (256.0 / STICK_GAIN);
866
                Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN);
867
                Looping_Roll = 0;
868
                Looping_Pitch = 0;
869
                MaxStickPitch = 0;
870
                MaxStickRoll = 0;
871
        }
395 hbuss 872
 
886 killagreg 873
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
874
// Trim Gyro-Integrals to ACC-Signals
875
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
614 hbuss 876
 
886 killagreg 877
        #define BALANCE_NUMBER 256L
878
        // sum for averaging
879
        MeanIntegralPitch  += IntegralPitch;
880
        MeanIntegralRoll  += IntegralRoll;
614 hbuss 881
 
886 killagreg 882
        if(Looping_Pitch || Looping_Roll) // if looping in any direction
883
        {
884
                // reset averaging for acc and gyro integral as well as gyro integral acc correction
885
                MeasurementCounter = 0;
469 hbuss 886
 
886 killagreg 887
                IntegralAccPitch = 0;
888
                IntegralAccRoll = 0;
614 hbuss 889
 
886 killagreg 890
                MeanIntegralPitch = 0;
891
                MeanIntegralRoll = 0;
395 hbuss 892
 
886 killagreg 893
                Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
894
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
498 hbuss 895
 
886 killagreg 896
                AttitudeCorrectionPitch = 0;
897
                AttitudeCorrectionRoll = 0;
898
        }
395 hbuss 899
 
886 killagreg 900
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
901
        if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction
902
        {
903
                int32_t tmp_long, tmp_long2;
904
                // determine the deviation of gyro integral from averaged acceleration sensor
905
                tmp_long   =  (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch);
906
                tmp_long  /= 16;
907
                tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll);
908
                tmp_long2 /= 16;
395 hbuss 909
 
886 killagreg 910
                if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands
911
                {
912
                        tmp_long  /= 3;
913
                        tmp_long2 /= 3;
914
                }
915
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active
916
                {
917
                        tmp_long  /= 3;
918
                        tmp_long2 /= 3;
919
                }
395 hbuss 920
 
886 killagreg 921
                #define BALANCE 32
922
                // limit correction effect
923
                if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
924
                if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
925
                if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
926
                if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
927
                // correct current readings
928
                Reading_IntegralGyroPitch -= tmp_long;
929
                Reading_IntegralGyroRoll -= tmp_long2;
930
        }
931
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
932
        // MeasurementCounter is incremented in the isr of analog.c
933
        if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
934
        {
935
                static int16_t cnt = 0;
936
                static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
937
                static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old;
720 ingob 938
 
886 killagreg 939
                // if not lopping in any direction (this should be alwais the case,
940
                // because the Measurement counter is reset to 0 if looping in any direction is active.)
941
                if(!Looping_Pitch && !Looping_Roll && !FunnelCourse)
942
                {
943
                        // Calculate mean value of the gyro integrals
944
                        MeanIntegralPitch /= BALANCE_NUMBER;
945
                        MeanIntegralRoll  /= BALANCE_NUMBER;
720 ingob 946
 
886 killagreg 947
                        // Calculate mean of the acceleration values
948
                        IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER;
949
                        IntegralAccRoll  = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER;
720 ingob 950
 
886 killagreg 951
                        // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
952
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
953
                        IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch);
954
                        CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
955
                        AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER;
956
                        // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
957
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
958
                        IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
959
                        CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
960
                        AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
961
 
962
                        if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
963
                        {
964
                                AttitudeCorrectionPitch /= 2;
965
                                AttitudeCorrectionRoll /= 2;
966
                        }
967
 
968
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
969
        // Gyro-Drift ermitteln
970
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
971
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
972
                        IntegralErrorPitch  = IntegralPitch2 - IntegralPitch;
973
                        Reading_IntegralGyroPitch2 -= IntegralErrorPitch;
974
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
975
                        IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
976
                        Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
977
 
978
                        if(YawGyroDrift >  BALANCE_NUMBER/2) AdNeutralYaw++;
979
                        if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--;
980
                        YawGyroDrift = 0;
981
/*
982
                        DebugOut.Analog[17] = IntegralAccPitch / 26;
983
                        DebugOut.Analog[18] = IntegralAccRoll / 26;
984
                        DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
985
                        DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
986
                        DebugOut.Analog[21] = MeanIntegralPitch / 26;
987
                        DebugOut.Analog[22] = MeanIntegralRoll / 26;
988
                        //DebugOut.Analog[28] = CorrectionPitch;
989
                        DebugOut.Analog[29] = CorrectionRoll;
990
                        DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
720 ingob 991
*/
886 killagreg 992
 
993
                        #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
994
                        #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
995
                        #define MOVEMENT_LIMIT 20000
996
        // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
997
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
998
                        CorrectionPitch = 0;
999
                        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT)
1000
                        {
1001
                                if(IntegralErrorPitch >  ERROR_LIMIT2)
1002
                                {
1003
                                        if(last_n_p)
1004
                                        {
1005
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
1006
                                                CorrectionPitch = IntegralErrorPitch / 8;
1007
                                                if(CorrectionPitch > 5000) CorrectionPitch = 5000;
1008
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
1009
                                        }
1010
                                        else last_n_p = 1;
1011
                                }
1012
                                else  last_n_p = 0;
1013
                                if(IntegralErrorPitch < -ERROR_LIMIT2)
1014
                                {
1015
                                        if(last_n_n)
1016
                                        {
1017
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
1018
                                                CorrectionPitch = IntegralErrorPitch / 8;
1019
                                                if(CorrectionPitch < -5000) CorrectionPitch = -5000;
1020
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
1021
                                        }
1022
                                        else last_n_n = 1;
1023
                                }
1024
                                else  last_n_n = 0;
1025
                        }
1026
                        else
1027
                        {
1028
                                cnt = 0;
1029
                                BadCompassHeading = 500;
1030
                        }
1031
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
1032
                        // correct Gyro Offsets
1033
                        if(IntegralErrorPitch >  ERROR_LIMIT)   AdNeutralPitch += cnt;
1034
                        if(IntegralErrorPitch < -ERROR_LIMIT)   AdNeutralPitch -= cnt;
1035
 
1036
        // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
1037
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
1038
                        CorrectionRoll = 0;
1039
                        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
1040
                        {
1041
                                if(IntegralErrorRoll >  ERROR_LIMIT2)
1042
                                {
1043
                                        if(last_r_p)
1044
                                        {
1045
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
1046
                                                CorrectionRoll = IntegralErrorRoll / 8;
1047
                                                if(CorrectionRoll > 5000) CorrectionRoll = 5000;
1048
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
1049
                                        }
1050
                                        else last_r_p = 1;
1051
                                }
1052
                                else  last_r_p = 0;
1053
                                if(IntegralErrorRoll < -ERROR_LIMIT2)
1054
                                {
1055
                                        if(last_r_n)
1056
                                        {
1057
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
1058
                                                CorrectionRoll = IntegralErrorRoll / 8;
1059
                                                if(CorrectionRoll < -5000) CorrectionRoll = -5000;
1060
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
1061
                                        }
1062
                                        else last_r_n = 1;
1063
                                }
1064
                                else  last_r_n = 0;
1065
                        }
1066
                        else
1067
                        {
1068
                                cnt = 0;
1069
                                BadCompassHeading = 500;
1070
                        }
1071
                        // correct Gyro Offsets
1072
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
1073
                        if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
1074
                        if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
720 ingob 1075
/*
886 killagreg 1076
                        DebugOut.Analog[27] = CorrectionRoll;
1077
                        DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
1078
                        DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
720 ingob 1079
*/
886 killagreg 1080
                }
1081
                else // looping is active
1082
                {
1083
                        AttitudeCorrectionRoll  = 0;
1084
                        AttitudeCorrectionPitch = 0;
1085
                        FunnelCourse = 0;
1086
                }
395 hbuss 1087
 
886 killagreg 1088
                // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction
1089
                if(!Gyro_I_Factor)
1090
                {
1091
                        AttitudeCorrectionRoll  = 0;
1092
                        AttitudeCorrectionPitch = 0;
1093
                }
1094
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1095
                MeanIntegralPitch_old = MeanIntegralPitch;
1096
                MeanIntegralRoll_old  = MeanIntegralRoll;
1097
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1098
                // reset variables used for averaging
1099
                IntegralAccPitch = 0;
1100
                IntegralAccRoll = 0;
1101
                MeanIntegralPitch = 0;
1102
                MeanIntegralRoll = 0;
1103
                MeasurementCounter = 0;
1104
        } // end of averaging
401 hbuss 1105
 
492 hbuss 1106
 
886 killagreg 1107
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1108
//  Yawing
1109
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1110
        if(abs(StickYaw) > 15 ) // yaw stick is activated
1111
        {
1112
                if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX))
1113
                {
1114
                        UpdateCompassCourse = 1;
1115
                        CompassCourse = YawGyroHeading;
1116
                        BadCompassHeading = 250;
1117
                }
1118
        }
1119
        // exponential stick sensitivity in yawring rate
1120
        tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
1121
        tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
1122
        SetPointYaw = tmp_int;
1123
        // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw)
1124
        Reading_IntegralGyroYaw -= tmp_int;
1125
        // limit the effect
1126
        if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
1127
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
614 hbuss 1128
 
886 killagreg 1129
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1130
//  Compass
1131
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1132
    // compass code is used if Compass option is selected
1133
        if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE))
1134
        {
1135
                int16_t w, v, r,correction, error;
395 hbuss 1136
 
886 killagreg 1137
                if(CompassCalState && MotorsOn == 0 )
1138
                {
1139
                        SetCompassCalState();
1140
                        #ifdef USE_KILLAGREG
1141
                        MM3_Calibrate();
1142
                        #endif
1143
                }
1144
                else
1145
                {
1146
                        #ifdef USE_KILLAGREG
1147
                        static uint8_t updCompass = 0;
1148
                        if (!updCompass--)
1149
                        {
1150
                                updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
1151
                                MM3_Heading();
1152
                        }
1153
                        #endif
819 hbuss 1154
 
886 killagreg 1155
                        // get maximum attitude angle
1156
                        w = abs(IntegralPitch/512);
1157
                        v = abs(IntegralRoll /512);
1158
                        if(v > w) w = v;
1159
                        // update compass course
1160
                        if (w < 25 && UpdateCompassCourse && !BadCompassHeading)
1161
                        {
1162
                                BeepTime = 200;
1163
                                CompassCourse = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
1164
                                UpdateCompassCourse = 0;
1165
                        }
1166
                        // calculate the deviation of the yaw gyro heading and the compass heading
1167
                        if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
1168
                        else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180;
1169
                        correction = w / 8 + 1;
1170
                        YawGyroHeading += (error * 8) / correction;
1171
                        w = (w * FCParam.CompassYawEffect) / 64;
1172
                        w = FCParam.CompassYawEffect - w;
1173
                        if(w > 0)
1174
                        {
1175
                                if(BadCompassHeading)
1176
                                {       // wait a while
1177
                                        BadCompassHeading--;
1178
                                }
1179
                                else
1180
                                {   //
1181
                                        YawGyroDrift += error;
1182
                                        v = 64 + (MaxStickPitch + MaxStickRoll) / 8;
1183
                                        // calc course deviation
1184
                                        r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180;
1185
                                        v = (r * w) / v; // align to compass course
1186
                                        // limit yaw rate
1187
                                        w = 3 * FCParam.CompassYawEffect;
1188
                                        if (v > w) v = w;
1189
                                        else if (v < -w) v = -w;
1190
                                        Reading_IntegralGyroYaw += v;
1191
                                }
1192
                        }
1193
                        else
1194
                        {  // ignore compass at extreme attitudes for a while
1195
                                BadCompassHeading = 250;
1196
                        }
1197
                }
1198
        }
1 ingob 1199
 
886 killagreg 1200
        #ifdef USE_KILLAGREG
1201
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1202
//  GPS
1203
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1204
        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
1205
        {
1206
                GPS_I_Factor = FCParam.UserParam2;
1207
                GPS_P_Factor = FCParam.UserParam5;
1208
                GPS_D_Factor = FCParam.UserParam6;
1209
                if(EmergencyLanding) GPS_Main(230); // enables Comming Home
1210
                else GPS_Main(Poti3);               // behavior controlled by Poti3
1211
        }
1212
        else
1213
        {
1214
                GPS_Pitch = 0;
1215
                GPS_Roll = 0;
1216
        }
1217
        #endif
1218
 
1219
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1220
//  Debugwerte zuordnen
886 killagreg 1221
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1222
        if(!TimerDebugOut--)
1223
        {
1224
                TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
1225
                DebugOut.Analog[0]  = IntegralPitch / ParamSet.GyroAccFactor;
1226
                DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFactor;
1227
                DebugOut.Analog[2]  = Mean_AccPitch;
1228
                DebugOut.Analog[3]  = Mean_AccRoll;
1229
                DebugOut.Analog[4]  = Reading_GyroYaw;
1230
                DebugOut.Analog[5]  = ReadingHeight;
1231
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
1232
                DebugOut.Analog[8]  = CompassHeading;
1233
                DebugOut.Analog[9]  = UBat;
1234
                DebugOut.Analog[10] = RC_Quality;
1235
                DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
1236
                DebugOut.Analog[16] = Mean_AccTop;
805 hbuss 1237
 
886 killagreg 1238
                DebugOut.Analog[20] = ServoValue;
173 holgerb 1239
 
744 hbuss 1240
 
720 ingob 1241
 
886 killagreg 1242
                DebugOut.Analog[30] = GPS_Pitch;
1243
                DebugOut.Analog[31] = GPS_Roll;
805 hbuss 1244
 
886 killagreg 1245
                /*    DebugOut.Analog[16] = motor_rx[0];
1246
                DebugOut.Analog[17] = motor_rx[1];
1247
                DebugOut.Analog[18] = motor_rx[2];
1248
                DebugOut.Analog[19] = motor_rx[3];
1249
                DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1250
                DebugOut.Analog[20] /= 14;
1251
                DebugOut.Analog[21] = motor_rx[4];
1252
                DebugOut.Analog[22] = motor_rx[5];
1253
                DebugOut.Analog[23] = motor_rx[6];
1254
                DebugOut.Analog[24] = motor_rx[7];
1255
                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
805 hbuss 1256
 
886 killagreg 1257
                DebugOut.Analog[9]  = Reading_GyroPitch;
1258
                DebugOut.Analog[9]  = SetPointHeight;
1259
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
1 ingob 1260
 
886 killagreg 1261
                DebugOut.Analog[10] = FCParam.Gyro_I;
1262
                DebugOut.Analog[10] = ParamSet.Gyro_I;
1263
                DebugOut.Analog[9]  = CompassOffCourse;
1264
                DebugOut.Analog[10] = ThrustMixFraction;
1265
                DebugOut.Analog[3]  = HeightD * 32;
1266
                DebugOut.Analog[4]  = HeightControlThrust;
1267
                */
1268
        }
604 hbuss 1269
 
886 killagreg 1270
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1271
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
1272
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1273
 
886 killagreg 1274
        if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor;
1275
        else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor;
1276
        if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
1277
        else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
1278
        Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
854 hbuss 1279
 
886 killagreg 1280
        DebugOut.Analog[21] = Reading_GyroPitch;
1281
        DebugOut.Analog[22] = Reading_GyroRoll;
1 ingob 1282
 
886 killagreg 1283
        // limit control feedback
1284
        #define MAX_SENSOR  (4096 * STICK_GAIN)
1285
        if(Reading_GyroPitch >  MAX_SENSOR) Reading_GyroPitch =  MAX_SENSOR;
1286
        if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR;
1287
        if(Reading_GyroRoll  >  MAX_SENSOR) Reading_GyroRoll  =  MAX_SENSOR;
1288
        if(Reading_GyroRoll  < -MAX_SENSOR) Reading_GyroRoll  = -MAX_SENSOR;
1289
        if(Reading_GyroYaw   >  MAX_SENSOR) Reading_GyroYaw   =  MAX_SENSOR;
1290
        if(Reading_GyroYaw   < -MAX_SENSOR) Reading_GyroYaw   = -MAX_SENSOR;
855 hbuss 1291
 
886 killagreg 1292
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1293
// Height Control
1294
// The height control algorithm reduces the thrust but does not increase the thrust.
1295
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1296
 
886 killagreg 1297
        ThrustMixFraction *= STICK_GAIN;
513 hbuss 1298
 
886 killagreg 1299
        // If height control is activated and no emergency landing is active
1300
        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) )
1301
        {
1302
                int tmp_int;
1303
                // if height control is activated by an rc channel
1304
                if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
1305
                {       // check if parameter is less than activation threshold
1306
                        if(FCParam.MaxHeight < 50)
1307
                        {
1308
                                SetPointHeight = ReadingHeight - 20;  // update SetPoint with current reading
1309
                                HeightControlActive = 0; // disable height control
1310
                        }
1311
                        else HeightControlActive = 1; // enable height control
1312
                }
1313
                else // no switchable height control
1314
                {
1315
                        SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
1316
                        HeightControlActive = 1;
1317
                }
1318
                // get current height
1319
                h = ReadingHeight;
1320
                // if current height is above the setpoint reduce thrust
1321
                if((h > SetPointHeight) && HeightControlActive)
1322
                {
1323
                        // ThrustMixFraction - HightDeviation * P  - HeightChange * D - ACCTop * DACC
1324
                        // height difference -> P control part
1325
                        h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN);
1326
                        h = ThrustMixFraction - h; // reduce gas
1327
                        // height gradient --> D control part
1328
                        //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN);  // D control part
1329
                        h -= (HeightD) / (8 / STICK_GAIN);  // D control part
1330
                        // acceleration sensor effect
1331
                        tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN);
1332
                        if(tmp_int > 70 * STICK_GAIN)        tmp_int =   70 * STICK_GAIN;
1333
                        else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN);
1334
                        h -= tmp_int;
1335
                        // update height control thrust
1336
                        HeightControlThrust = (HeightControlThrust*15 + h) / 16;
1337
                        // limit thrust reduction
1338
                        if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN)
1339
                        {
1340
                                if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN;
1341
                                // allows landing also if thrust stick is reduced below min thrust on height control
1342
                                if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction;
1343
                        }
1344
                        // limit thrust to stick setting
1345
                        if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction;
1346
                        ThrustMixFraction = HeightControlThrust;
1347
                }
1348
        }
1349
        // limit thrust to parameter setting
1350
        if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN;
1351
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1352
// + Mixer and PI-Controller
1353
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1354
        DebugOut.Analog[7] = ThrustMixFraction;
1355
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1356
// Yaw-Fraction
1357
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1358
    YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN;     // yaw controller
1359
        #define MIN_YAWTHRUST (40 * STICK_GAIN)  // yaw also below this thrust value
1360
        // limit YawMixFraction
1361
        if(ThrustMixFraction > MIN_YAWTHRUST)
1362
        {
1363
                if(YawMixFraction >  (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2;
1364
                if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2);
1365
        }
1366
        else
1367
        {
1368
                if(YawMixFraction >  (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2;
1369
                if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2);
1370
        }
1371
        tmp_int = ParamSet.Trust_Max * STICK_GAIN;
1372
    if(YawMixFraction >  ((tmp_int - ThrustMixFraction))) YawMixFraction =  ((tmp_int - ThrustMixFraction));
1373
    if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction));
173 holgerb 1374
 
886 killagreg 1375
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1376
// Pitch-Axis
1377
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1378
    DiffPitch = Reading_GyroPitch - StickPitch; // get difference
1379
    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control
1380
    else SumPitch += DiffPitch; // I-part for head holding
1381
    if(SumPitch >  (STICK_GAIN * 16000L)) SumPitch =  (STICK_GAIN * 16000L);
1382
    if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L);
1383
    pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch
1384
 
1385
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1386
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1387
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1388
 
1389
        // Motor Front
1390
    MotorValue = ThrustMixFraction + pd_result + YawMixFraction;          // Mixer
1391
    MotorValue /= STICK_GAIN;
1392
        if ((MotorValue < 0)) MotorValue = 0;
1393
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1394
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1395
        Motor_Front = MotorValue;
1396
 
1397
 // Motor Rear
1398
        MotorValue = ThrustMixFraction - pd_result + YawMixFraction;     // Mixer
1399
        MotorValue /= STICK_GAIN;
1400
        if ((MotorValue < 0)) MotorValue = 0;
1401
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1402
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1403
        Motor_Rear = MotorValue;
1404
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1405
// Roll-Axis
1406
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1407
        DiffRoll = Reading_GyroRoll - StickRoll;        // get difference
1408
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control
1409
    else SumRoll += DiffRoll;  // I-part for head holding
901 killagreg 1410
    if(SumRoll >  (STICK_GAIN * 16000L)) SumRoll =  (STICK_GAIN * 16000L);
1411
    if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L);
886 killagreg 1412
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
1413
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1414
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1415
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1416
 
1417
    // Motor Left
1418
    MotorValue = ThrustMixFraction + pd_result - YawMixFraction;  // Mixer
1419
    MotorValue /= STICK_GAIN;
1420
        if ((MotorValue < 0)) MotorValue = 0;
1421
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1422
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1423
    Motor_Left = MotorValue;
1424
 
1425
 // Motor Right
1426
        MotorValue = ThrustMixFraction - pd_result - YawMixFraction;  // Mixer
1427
        MotorValue /= STICK_GAIN;
1428
        if ((MotorValue < 0)) MotorValue = 0;
1429
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1430
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1431
    Motor_Right = MotorValue;
1 ingob 1432
}
1433