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Rev | Author | Line No. | Line |
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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 04.2007 Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + www.MikroKopter.com |
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8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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. |
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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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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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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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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35 | // + from this software without specific prior written permission. |
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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 |
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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 |
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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 |
886 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | 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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886 | killagreg | 58 | #include "eeprom.h" |
59 | #include "timer0.h" |
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60 | #include "analog.h" |
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61 | #include "fc.h" |
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1180 | killagreg | 62 | #include "uart0.h" |
886 | killagreg | 63 | #include "rc.h" |
64 | #include "twimaster.h" |
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65 | #include "timer2.h" |
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66 | #ifdef USE_KILLAGREG |
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67 | #include "mm3.h" |
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68 | #include "gps.h" |
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69 | #endif |
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908 | killagreg | 70 | #ifdef USE_MK3MAG |
886 | killagreg | 71 | #include "mk3mag.h" |
908 | killagreg | 72 | #include "gps.h" |
886 | killagreg | 73 | #endif |
74 | #include "led.h" |
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1080 | killagreg | 75 | #ifdef USE_NAVICTRL |
1078 | killagreg | 76 | #include "spi.h" |
1080 | killagreg | 77 | #endif |
1180 | killagreg | 78 | |
79 | |||
80 | #define STICK_GAIN 4 |
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81 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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82 | |||
886 | killagreg | 83 | // gyro readings |
1180 | killagreg | 84 | int16_t GyroNick, GyroRoll, GyroYaw; |
886 | killagreg | 85 | |
1180 | killagreg | 86 | // gyro bias |
87 | int16_t BiasHiResGyroNick = 0, BiasHiResGyroRoll = 0, AdBiasGyroYaw = 0; |
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88 | |||
89 | // accelerations |
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90 | int16_t AccNick, AccRoll, AccTop; |
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91 | |||
886 | killagreg | 92 | // neutral acceleration readings |
1180 | killagreg | 93 | int16_t AdBiasAccNick = 0, AdBiasAccRoll = 0; |
94 | volatile float AdBiasAccTop = 0; |
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95 | // the additive gyro rate corrections according to the axis coupling |
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96 | int16_t TrimNick, TrimRoll; |
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1 | ingob | 97 | |
1180 | killagreg | 98 | |
886 | killagreg | 99 | // attitude gyro integrals |
1180 | killagreg | 100 | int32_t IntegralGyroNick = 0,IntegralGyroNick2 = 0; |
101 | int32_t IntegralGyroRoll = 0,IntegralGyroRoll2 = 0; |
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102 | int32_t IntegralGyroYaw = 0; |
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103 | int32_t ReadingIntegralGyroNick = 0, ReadingIntegralGyroNick2 = 0; |
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104 | int32_t ReadingIntegralGyroRoll = 0, ReadingIntegralGyroRoll2 = 0; |
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105 | int32_t ReadingIntegralGyroYaw = 0; |
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106 | int32_t MeanIntegralGyroNick; |
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107 | int32_t MeanIntegralGyroRoll; |
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1 | ingob | 108 | |
886 | killagreg | 109 | // attitude acceleration integrals |
1180 | killagreg | 110 | int32_t MeanAccNick = 0, MeanAccRoll = 0; |
111 | volatile int32_t ReadingIntegralTop = 0; |
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886 | killagreg | 112 | |
113 | // compass course |
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1180 | killagreg | 114 | int16_t CompassHeading = -1; // negative angle indicates invalid data. |
115 | int16_t CompassCourse = -1; |
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116 | int16_t CompassOffCourse = 0; |
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117 | uint8_t CompassCalState = 0; |
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886 | killagreg | 118 | uint8_t FunnelCourse = 0; |
119 | uint16_t BadCompassHeading = 500; |
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1180 | killagreg | 120 | int32_t YawGyroHeading; // Yaw Gyro Integral supported by compass |
886 | killagreg | 121 | int16_t YawGyroDrift; |
122 | |||
123 | |||
911 | killagreg | 124 | int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
886 | killagreg | 125 | |
126 | |||
936 | killagreg | 127 | // MK flags |
1180 | killagreg | 128 | uint16_t ModelIsFlying = 0; |
129 | uint8_t MKFlags = 0; |
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886 | killagreg | 130 | |
911 | killagreg | 131 | int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
886 | killagreg | 132 | |
1180 | killagreg | 133 | uint8_t GyroPFactor, GyroIFactor; // the PD factors for the attitude control |
134 | int16_t Ki = 10300 / 33; |
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886 | killagreg | 135 | |
136 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
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137 | |||
138 | // setpoints for motors |
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139 | |||
1180 | killagreg | 140 | volatile uint8_t Motor1, Motor2, Motor3, Motor4, Motor5, Motor6, Motor7, Motor8; |
141 | |||
142 | |||
886 | killagreg | 143 | // stick values derived by rc channels readings |
911 | killagreg | 144 | int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
1180 | killagreg | 145 | int16_t GPSStickNick = 0, GPSStickRoll = 0; |
886 | killagreg | 146 | |
911 | killagreg | 147 | int16_t MaxStickNick = 0, MaxStickRoll = 0; |
1180 | killagreg | 148 | |
886 | killagreg | 149 | // stick values derived by uart inputs |
911 | killagreg | 150 | int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
886 | killagreg | 151 | |
152 | int16_t ReadingHeight = 0; |
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153 | int16_t SetPointHeight = 0; |
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154 | |||
911 | killagreg | 155 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
886 | killagreg | 156 | |
1180 | killagreg | 157 | uint8_t LoopingNick = 0, LoopingRoll = 0; |
158 | uint8_t LoopingLeft = 0, LoopingRight = 0, LoopingDown = 0, LoopingTop = 0; |
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886 | killagreg | 159 | |
160 | |||
1180 | killagreg | 161 | fc_param_t FCParam = {48,251,16,58,64,8,150,150,2,10,0,0,0,0,0,0,0,0,100,70,90,65,64,100}; |
886 | killagreg | 162 | |
163 | |||
164 | |||
165 | /************************************************************************/ |
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1180 | killagreg | 166 | /* Filter for motor value smoothing */ |
167 | /************************************************************************/ |
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168 | int16_t MotorSmoothing(int16_t newvalue, int16_t oldvalue) |
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169 | { |
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170 | int16_t motor; |
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171 | if(newvalue > oldvalue) motor = (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
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172 | else motor = newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
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173 | return(motor); |
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174 | } |
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175 | |||
176 | /************************************************************************/ |
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886 | killagreg | 177 | /* Creates numbeeps beeps at the speaker */ |
178 | /************************************************************************/ |
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179 | void Beep(uint8_t numbeeps) |
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1 | ingob | 180 | { |
886 | killagreg | 181 | while(numbeeps--) |
182 | { |
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936 | killagreg | 183 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
886 | killagreg | 184 | BeepTime = 100; // 0.1 second |
185 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
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186 | // this will block the flight control loop, |
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952 | killagreg | 187 | // therefore do not use this function if motors are running |
886 | killagreg | 188 | } |
1 | ingob | 189 | } |
190 | |||
886 | killagreg | 191 | /************************************************************************/ |
192 | /* Neutral Readings */ |
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193 | /************************************************************************/ |
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1180 | killagreg | 194 | void SetNeutral(uint8_t AccAdjustment) |
1 | ingob | 195 | { |
1180 | killagreg | 196 | uint8_t i; |
197 | int32_t Sum_1, Sum_2 = 0, Sum_3; |
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198 | |||
199 | Servo_Off(); // disable servo output |
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200 | |||
201 | AdBiasAccNick = 0; |
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202 | AdBiasAccRoll = 0; |
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203 | AdBiasAccTop = 0; |
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204 | |||
205 | BiasHiResGyroNick = 0; |
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206 | BiasHiResGyroRoll = 0; |
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207 | AdBiasGyroYaw = 0; |
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208 | |||
209 | FCParam.AxisCoupling1 = 0; |
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210 | FCParam.AxisCoupling2 = 0; |
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211 | |||
1078 | killagreg | 212 | ExpandBaro = 0; |
1180 | killagreg | 213 | |
214 | // sample values with bias set to zero |
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395 | hbuss | 215 | Delay_ms_Mess(100); |
1180 | killagreg | 216 | |
217 | if(BoardRelease == 13) SearchDacGyroOffset(); |
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218 | |||
886 | killagreg | 219 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
513 | hbuss | 220 | { |
886 | killagreg | 221 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
513 | hbuss | 222 | } |
1180 | killagreg | 223 | |
224 | // determine gyro bias by averaging (require no rotation movement) |
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225 | #define GYRO_BIAS_AVERAGE 32 |
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226 | Sum_1 = 0; |
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227 | Sum_2 = 0; |
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228 | Sum_3 = 0; |
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229 | for(i=0; i < GYRO_BIAS_AVERAGE; i++) |
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513 | hbuss | 230 | { |
1180 | killagreg | 231 | Delay_ms_Mess(10); |
232 | Sum_1 += AdValueGyroNick * HIRES_GYRO_AMPLIFY; |
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233 | Sum_2 += AdValueGyroRoll * HIRES_GYRO_AMPLIFY; |
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234 | Sum_3 += AdValueGyroYaw; |
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235 | } |
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236 | BiasHiResGyroNick = (int16_t)((Sum_1 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
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237 | BiasHiResGyroRoll = (int16_t)((Sum_2 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
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238 | AdBiasGyroYaw = (int16_t)((Sum_3 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
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239 | |||
240 | if(AccAdjustment) |
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241 | { |
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242 | // determine acc bias by averaging (require horizontal adjustment in nick and roll attitude) |
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243 | #define ACC_BIAS_AVERAGE 10 |
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244 | Sum_1 = 0; |
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245 | Sum_2 = 0; |
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246 | Sum_3 = 0; |
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247 | for(i=0; i < ACC_BIAS_AVERAGE; i++) |
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248 | { |
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249 | Delay_ms_Mess(10); |
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250 | Sum_1 += AdValueAccNick; |
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251 | Sum_2 += AdValueAccRoll; |
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252 | Sum_3 += AdValueAccZ; |
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253 | } |
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254 | // use abs() to avoid negative bias settings because of adc sign flip in adc.c |
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255 | AdBiasAccNick = (int16_t)((abs(Sum_1) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
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256 | AdBiasAccRoll = (int16_t)((abs(Sum_2) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
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257 | AdBiasAccTop = (int16_t)((abs(Sum_3) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
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258 | |||
259 | // Save ACC neutral settings to eeprom |
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260 | SetParamWord(PID_ACC_NICK, (uint16_t)AdBiasAccNick); |
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261 | SetParamWord(PID_ACC_ROLL, (uint16_t)AdBiasAccRoll); |
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262 | SetParamWord(PID_ACC_TOP, (uint16_t)AdBiasAccTop); |
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513 | hbuss | 263 | } |
1180 | killagreg | 264 | else // restore from eeprom |
886 | killagreg | 265 | { |
1180 | killagreg | 266 | AdBiasAccNick = (int16_t)GetParamWord(PID_ACC_NICK); |
267 | AdBiasAccRoll = (int16_t)GetParamWord(PID_ACC_ROLL); |
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268 | AdBiasAccTop = (int16_t)GetParamWord(PID_ACC_TOP); |
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886 | killagreg | 269 | } |
1180 | killagreg | 270 | // setting acc bias values has an influence in the analog.c ISR |
271 | // therefore run measurement for 100ms to achive stable readings |
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272 | Delay_ms_Mess(100); |
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273 | |||
274 | // reset acc averaging and integrals |
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275 | AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
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276 | AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
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277 | AccTop = AdValueAccTop; |
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278 | ReadingIntegralTop = AdValueAccTop; |
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279 | |||
280 | // and gyro readings |
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281 | GyroNick = 0; |
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282 | GyroRoll = 0; |
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283 | GyroYaw = 0; |
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284 | |||
285 | // reset gyro integrals to acc guessing |
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286 | IntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
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287 | IntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
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288 | //ReadingIntegralGyroNick = IntegralGyroNick; |
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289 | //ReadingIntegralGyroRoll = IntegralGyroRoll; |
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290 | ReadingIntegralGyroNick2 = IntegralGyroNick; |
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291 | ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
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292 | ReadingIntegralGyroYaw = 0; |
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293 | |||
294 | |||
886 | killagreg | 295 | StartAirPressure = AirPressure; |
296 | HeightD = 0; |
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1180 | killagreg | 297 | |
298 | // update compass course to current heading |
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886 | killagreg | 299 | CompassCourse = CompassHeading; |
1180 | killagreg | 300 | // Inititialize YawGyroIntegral value with current compass heading |
301 | YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
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302 | YawGyroDrift = 0; |
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303 | |||
886 | killagreg | 304 | BeepTime = 50; |
1180 | killagreg | 305 | |
911 | killagreg | 306 | TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
1180 | killagreg | 307 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
308 | |||
886 | killagreg | 309 | ExternHeightValue = 0; |
1180 | killagreg | 310 | |
311 | GPSStickNick = 0; |
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312 | GPSStickRoll = 0; |
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313 | |||
936 | killagreg | 314 | MKFlags |= MKFLAG_CALIBRATE; |
1180 | killagreg | 315 | |
316 | FCParam.KalmanK = -1; |
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317 | FCParam.KalmanMaxDrift = 0; |
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318 | FCParam.KalmanMaxFusion = 32; |
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319 | |||
320 | Poti1 = PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110; |
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321 | Poti2 = PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110; |
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322 | Poti3 = PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110; |
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323 | Poti4 = PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110; |
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324 | |||
325 | Servo_On(); //enable servo output |
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326 | RC_Quality = 100; |
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1 | ingob | 327 | } |
328 | |||
886 | killagreg | 329 | /************************************************************************/ |
330 | /* Averaging Measurement Readings */ |
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331 | /************************************************************************/ |
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332 | void Mean(void) |
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333 | { |
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1180 | killagreg | 334 | int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
335 | int16_t FilterGyroNick, FilterGyroRoll; |
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336 | static int16_t Last_GyroRoll = 0, Last_GyroNick = 0; |
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337 | int16_t d2Nick, d2Roll; |
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338 | int32_t AngleNick, AngleRoll; |
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339 | int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
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401 | hbuss | 340 | |
1180 | killagreg | 341 | // Get bias free gyro readings |
342 | GyroNick = HiResGyroNick / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
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343 | FilterGyroNick = FilterHiResGyroNick / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
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604 | hbuss | 344 | |
1180 | killagreg | 345 | // handle rotation rates that violate adc ranges |
346 | if(AdValueGyroNick < 15) GyroNick = -1000; |
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347 | if(AdValueGyroNick < 7) GyroNick = -2000; |
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348 | if(BoardRelease == 10) |
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349 | { |
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350 | if(AdValueGyroNick > 1010) GyroNick = +1000; |
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351 | if(AdValueGyroNick > 1017) GyroNick = +2000; |
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352 | } |
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353 | else |
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354 | { |
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355 | if(AdValueGyroNick > 2000) GyroNick = +1000; |
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356 | if(AdValueGyroNick > 2015) GyroNick = +2000; |
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357 | } |
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886 | killagreg | 358 | |
1180 | killagreg | 359 | GyroRoll = HiResGyroRoll / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
360 | FilterGyroRoll = FilterHiResGyroRoll / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
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361 | // handle rotation rates that violate adc ranges |
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362 | if(AdValueGyroRoll < 15) GyroRoll = -1000; |
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363 | if(AdValueGyroRoll < 7) GyroRoll = -2000; |
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364 | if(BoardRelease == 10) |
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365 | { |
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366 | if(AdValueGyroRoll > 1010) GyroRoll = +1000; |
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367 | if(AdValueGyroRoll > 1017) GyroRoll = +2000; |
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368 | } |
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369 | else |
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370 | { |
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371 | if(AdValueGyroRoll > 2000) GyroRoll = +1000; |
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372 | if(AdValueGyroRoll > 2015) GyroRoll = +2000; |
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373 | } |
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886 | killagreg | 374 | |
1180 | killagreg | 375 | GyroYaw = AdBiasGyroYaw - AdValueGyroYaw; |
376 | |||
377 | // Acceleration Sensor |
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378 | // lowpass acc measurement and scale AccNick/AccRoll by a factor of ACC_AMPLIFY to have a better resolution |
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379 | AccNick = ((int32_t)AccNick * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 4L; |
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380 | AccRoll = ((int32_t)AccRoll * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 4L; |
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381 | AccTop = ((int32_t)AccTop * 3 + ((int32_t)AdValueAccTop)) / 4L; |
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382 | |||
383 | // sum acc sensor readings for later averaging |
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384 | MeanAccNick += ACC_AMPLIFY * AdValueAccNick; |
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385 | MeanAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
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386 | |||
911 | killagreg | 387 | NaviAccNick += AdValueAccNick; |
1180 | killagreg | 388 | NaviAccRoll += AdValueAccRoll; |
805 | hbuss | 389 | NaviCntAcc++; |
882 | hbuss | 390 | |
1180 | killagreg | 391 | |
392 | // enable ADC to meassure next readings, before that point all variables should be read that are written by the ADC ISR |
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393 | ADC_Enable(); |
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394 | ADReady = 0; |
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395 | |||
396 | // limit angle readings for axis coupling calculations |
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397 | #define ANGLE_LIMIT 93000L // aprox. 93000/GYRO_DEG_FACTOR = 82 deg |
||
398 | |||
399 | AngleNick = ReadingIntegralGyroNick; |
||
400 | CHECK_MIN_MAX(AngleNick, -ANGLE_LIMIT, ANGLE_LIMIT); |
||
401 | |||
402 | AngleRoll = ReadingIntegralGyroRoll; |
||
403 | CHECK_MIN_MAX(AngleRoll, -ANGLE_LIMIT, ANGLE_LIMIT); |
||
404 | |||
405 | |||
406 | // Yaw |
||
886 | killagreg | 407 | // calculate yaw gyro integral (~ to rotation angle) |
1180 | killagreg | 408 | YawGyroHeading += GyroYaw; |
409 | ReadingIntegralGyroYaw += GyroYaw; |
||
395 | hbuss | 410 | |
1 | ingob | 411 | |
886 | killagreg | 412 | // Coupling fraction |
1180 | killagreg | 413 | if(! LoopingNick && !LoopingRoll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
886 | killagreg | 414 | { |
1180 | killagreg | 415 | tmp13 = (FilterGyroRoll * AngleNick) / 2048L; |
416 | tmp13 *= FCParam.AxisCoupling2; // 65 |
||
417 | tmp13 /= 4096L; |
||
418 | CouplingNickRoll = tmp13; |
||
419 | |||
420 | tmp14 = (FilterGyroNick * AngleRoll) / 2048L; |
||
421 | tmp14 *= FCParam.AxisCoupling2; // 65 |
||
422 | tmp14 /= 4096L; |
||
423 | CouplingRollNick = tmp14; |
||
424 | |||
425 | tmp14 -= tmp13; |
||
426 | YawGyroHeading += tmp14; |
||
427 | if(!FCParam.AxisCouplingYawCorrection) ReadingIntegralGyroYaw -= tmp14 / 2; // force yaw |
||
428 | |||
429 | tmpl = ((GyroYaw + tmp14) * AngleNick) / 2048L; |
||
430 | tmpl *= FCParam.AxisCoupling1; |
||
886 | killagreg | 431 | tmpl /= 4096L; |
1180 | killagreg | 432 | |
433 | tmpl2 = ((GyroYaw + tmp14) * AngleRoll) / 2048L; |
||
434 | tmpl2 *= FCParam.AxisCoupling1; |
||
886 | killagreg | 435 | tmpl2 /= 4096L; |
436 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
||
437 | |||
1180 | killagreg | 438 | TrimNick = -tmpl2 + tmpl / 100L; |
439 | TrimRoll = tmpl - tmpl2 / 100L; |
||
886 | killagreg | 440 | } |
441 | else |
||
442 | { |
||
1180 | killagreg | 443 | CouplingNickRoll = 0; |
444 | CouplingRollNick = 0; |
||
445 | TrimNick = 0; |
||
446 | TrimRoll = 0; |
||
886 | killagreg | 447 | } |
1180 | killagreg | 448 | |
449 | |||
450 | // Yaw |
||
451 | |||
452 | // limit YawGyroHeading proportional to 0° to 360° |
||
453 | if(YawGyroHeading >= (360L * GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * GYRO_DEG_FACTOR; // 360° Wrap |
||
454 | if(YawGyroHeading < 0) YawGyroHeading += 360L * GYRO_DEG_FACTOR; |
||
455 | |||
456 | // Roll |
||
457 | ReadingIntegralGyroRoll2 += FilterGyroRoll + TrimRoll; |
||
458 | ReadingIntegralGyroRoll += FilterGyroRoll + TrimRoll- AttitudeCorrectionRoll; |
||
459 | if(ReadingIntegralGyroRoll > TurnOver180Roll) |
||
886 | killagreg | 460 | { |
1180 | killagreg | 461 | ReadingIntegralGyroRoll = -(TurnOver180Roll - 10000L); |
462 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
||
886 | killagreg | 463 | } |
1180 | killagreg | 464 | if(ReadingIntegralGyroRoll < -TurnOver180Roll) |
886 | killagreg | 465 | { |
1180 | killagreg | 466 | ReadingIntegralGyroRoll = (TurnOver180Roll - 10000L); |
467 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
||
886 | killagreg | 468 | } |
1180 | killagreg | 469 | |
470 | // Nick |
||
471 | ReadingIntegralGyroNick2 += FilterGyroNick + TrimNick; |
||
472 | ReadingIntegralGyroNick += FilterGyroNick + TrimNick - AttitudeCorrectionNick; |
||
473 | if(ReadingIntegralGyroNick > TurnOver180Nick) |
||
886 | killagreg | 474 | { |
1180 | killagreg | 475 | ReadingIntegralGyroNick = -(TurnOver180Nick - 25000L); |
476 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
||
886 | killagreg | 477 | } |
1180 | killagreg | 478 | if(ReadingIntegralGyroNick < -TurnOver180Nick) |
886 | killagreg | 479 | { |
1180 | killagreg | 480 | ReadingIntegralGyroNick = (TurnOver180Nick - 25000L); |
481 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
||
886 | killagreg | 482 | } |
483 | |||
1180 | killagreg | 484 | IntegralGyroYaw = ReadingIntegralGyroYaw; |
485 | IntegralGyroNick = ReadingIntegralGyroNick; |
||
486 | IntegralGyroRoll = ReadingIntegralGyroRoll; |
||
487 | IntegralGyroNick2 = ReadingIntegralGyroNick2; |
||
488 | IntegralGyroRoll2 = ReadingIntegralGyroRoll2; |
||
886 | killagreg | 489 | |
490 | |||
1180 | killagreg | 491 | #define D_LIMIT 128 |
492 | |||
493 | if(FCParam.GyroD) |
||
886 | killagreg | 494 | { |
1180 | killagreg | 495 | d2Nick = (HiResGyroNick - Last_GyroNick); // change of gyro rate |
496 | Last_GyroNick = (Last_GyroNick + HiResGyroNick) / 2; |
||
497 | CHECK_MIN_MAX(d2Nick, -D_LIMIT, D_LIMIT); |
||
498 | GyroNick += (d2Nick * (int16_t)FCParam.GyroD) / 16; |
||
499 | |||
500 | d2Roll = (HiResGyroRoll - Last_GyroRoll); // change of gyro rate |
||
501 | Last_GyroRoll = (Last_GyroRoll + HiResGyroRoll) / 2; |
||
502 | CHECK_MIN_MAX(d2Roll, -D_LIMIT, D_LIMIT); |
||
503 | GyroRoll += (d2Roll * (int16_t)FCParam.GyroD) / 16; |
||
504 | |||
505 | HiResGyroNick += (d2Nick * (int16_t)FCParam.GyroD); |
||
506 | HiResGyroRoll += (d2Roll * (int16_t)FCParam.GyroD); |
||
886 | killagreg | 507 | } |
1 | ingob | 508 | |
1180 | killagreg | 509 | // Increase the roll/nick rate virtually proportional to the coupling to suppress a faster rotation |
510 | if(FilterGyroNick > 0) TrimNick += ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
||
511 | else TrimNick -= ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
||
512 | if(FilterGyroRoll > 0) TrimRoll += ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
||
513 | else TrimRoll -= ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
||
395 | hbuss | 514 | |
1180 | killagreg | 515 | // increase the nick/roll rates virtually from the threshold of 245 to slow down higher rotation rates |
516 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && ! LoopingNick && !LoopingRoll) |
||
517 | { |
||
518 | if(FilterGyroNick > 256) GyroNick += 1 * (FilterGyroNick - 256); |
||
519 | else if(FilterGyroNick < -256) GyroNick += 1 * (FilterGyroNick + 256); |
||
520 | if(FilterGyroRoll > 256) GyroRoll += 1 * (FilterGyroRoll - 256); |
||
521 | else if(FilterGyroRoll < -256) GyroRoll += 1 * (FilterGyroRoll + 256); |
||
522 | } |
||
886 | killagreg | 523 | |
1 | ingob | 524 | } |
525 | |||
1180 | killagreg | 526 | |
886 | killagreg | 527 | /************************************************************************/ |
528 | /* Transmit Motor Data via I2C */ |
||
529 | /************************************************************************/ |
||
1 | ingob | 530 | void SendMotorData(void) |
886 | killagreg | 531 | { |
936 | killagreg | 532 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
886 | killagreg | 533 | { |
1180 | killagreg | 534 | #ifdef USE_QUADRO |
535 | Motor1 = 0; |
||
536 | Motor2 = 0; |
||
537 | Motor3 = 0; |
||
538 | Motor4 = 0; |
||
539 | if(MotorTest[0]) Motor1 = MotorTest[0]; |
||
540 | if(MotorTest[1]) Motor2 = MotorTest[1]; |
||
541 | if(MotorTest[2]) Motor3 = MotorTest[2]; |
||
542 | if(MotorTest[3]) Motor4 = MotorTest[3]; |
||
543 | #else |
||
544 | Motor1 = 0; |
||
545 | Motor2 = 0; |
||
546 | Motor3 = 0; |
||
547 | Motor4 = 0; |
||
548 | Motor5 = 0; |
||
549 | Motor6 = 0; |
||
550 | Motor7 = 0; |
||
551 | Motor8 = 0; |
||
552 | if(MotorTest[0]) {Motor1 = MotorTest[0]; Motor2 = MotorTest[0];} |
||
553 | if(MotorTest[3]) {Motor3 = MotorTest[3]; Motor4 = MotorTest[3];} |
||
554 | if(MotorTest[1]) {Motor5 = MotorTest[1]; Motor6 = MotorTest[1];} |
||
555 | if(MotorTest[2]) {Motor7 = MotorTest[2]; Motor8 = MotorTest[2];} |
||
1 | ingob | 556 | |
1180 | killagreg | 557 | #endif |
558 | MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
||
559 | } |
||
560 | #ifdef USE_QUADRO |
||
561 | |||
562 | DebugOut.Analog[12] = Motor1; // Front |
||
563 | DebugOut.Analog[13] = Motor2; // Rear |
||
564 | DebugOut.Analog[14] = Motor4; // Left |
||
565 | DebugOut.Analog[15] = Motor3; // Right |
||
566 | #else // OCTO Motor addresses are counted clockwise starting at the head |
||
567 | DebugOut.Analog[12] = (Motor1 + Motor2) / 2; |
||
568 | DebugOut.Analog[13] = (Motor5 + Motor6) / 2; |
||
569 | DebugOut.Analog[14] = (Motor7 + Motor8) / 2; |
||
570 | DebugOut.Analog[15] = (Motor3 + Motor4) / 2; |
||
571 | #endif |
||
1 | ingob | 572 | //Start I2C Interrupt Mode |
936 | killagreg | 573 | twi_state = TWI_STATE_MOTOR_TX; |
886 | killagreg | 574 | I2C_Start(); |
1 | ingob | 575 | } |
576 | |||
577 | |||
578 | |||
886 | killagreg | 579 | /************************************************************************/ |
1180 | killagreg | 580 | /* Map the parameter to poti values */ |
886 | killagreg | 581 | /************************************************************************/ |
582 | void ParameterMapping(void) |
||
1 | ingob | 583 | { |
886 | killagreg | 584 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
585 | // else the last updated values are used |
||
586 | { |
||
587 | //update poti values by rc-signals |
||
936 | killagreg | 588 | #define CHK_POTI_MM(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;} |
589 | #define CHK_POTI(b,a) { 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;} |
||
590 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
||
1180 | killagreg | 591 | CHK_POTI_MM(FCParam.HeightD,ParamSet.HeightD,0,100); |
592 | CHK_POTI_MM(FCParam.HeightP,ParamSet.HeightP,0,100); |
||
936 | killagreg | 593 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
594 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
||
1180 | killagreg | 595 | CHK_POTI_MM(FCParam.GyroP,ParamSet.GyroP,10,255); |
596 | CHK_POTI(FCParam.GyroI,ParamSet.GyroI); |
||
597 | CHK_POTI(FCParam.GyroD,ParamSet.GyroD); |
||
598 | CHK_POTI(FCParam.IFactor,ParamSet.IFactor); |
||
936 | killagreg | 599 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
600 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
||
601 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
||
602 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
||
603 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
||
604 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
||
605 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
||
606 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
||
607 | CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
||
608 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
||
1180 | killagreg | 609 | CHK_POTI(FCParam.AxisCoupling1,ParamSet.AxisCoupling1); |
610 | CHK_POTI(FCParam.AxisCoupling2,ParamSet.AxisCoupling2); |
||
611 | CHK_POTI(FCParam.AxisCouplingYawCorrection,ParamSet.AxisCouplingYawCorrection); |
||
936 | killagreg | 612 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
613 | CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
||
614 | CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
||
1078 | killagreg | 615 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
936 | killagreg | 616 | CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
617 | CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
||
618 | CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
||
619 | CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
||
620 | CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
||
621 | CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
||
1078 | killagreg | 622 | CHK_POTI_MM(FCParam.NaviOperatingRadius,ParamSet.NaviOperatingRadius,10, 255); |
623 | CHK_POTI(FCParam.NaviWindCorrection,ParamSet.NaviWindCorrection); |
||
1080 | killagreg | 624 | CHK_POTI(FCParam.NaviSpeedCompensation,ParamSet.NaviSpeedCompensation); |
1078 | killagreg | 625 | #endif |
936 | killagreg | 626 | CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
1180 | killagreg | 627 | Ki = 10300 / ( FCParam.IFactor + 1 ); |
886 | killagreg | 628 | } |
629 | } |
||
1 | ingob | 630 | |
631 | |||
886 | killagreg | 632 | void SetCompassCalState(void) |
633 | { |
||
634 | static uint8_t stick = 1; |
||
635 | |||
911 | killagreg | 636 | // if nick is centered or top set stick to zero |
637 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
||
638 | // if nick is down trigger to next cal state |
||
639 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
||
886 | killagreg | 640 | { |
641 | stick = 1; |
||
642 | CompassCalState++; |
||
1078 | killagreg | 643 | if(CompassCalState < 5) Beep(CompassCalState); |
886 | killagreg | 644 | else BeepTime = 1000; |
645 | } |
||
1 | ingob | 646 | } |
647 | |||
648 | |||
819 | hbuss | 649 | |
886 | killagreg | 650 | /************************************************************************/ |
651 | /* MotorControl */ |
||
652 | /************************************************************************/ |
||
653 | void MotorControl(void) |
||
1 | ingob | 654 | { |
1180 | killagreg | 655 | int16_t MotorValue, h, tmp_int; |
656 | |||
657 | // Mixer Fractions that are combined for Motor Control |
||
658 | int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction; |
||
659 | |||
660 | // PID controller variables |
||
661 | int16_t DiffNick, DiffRoll; |
||
662 | int16_t PDPartNick, PDPartRoll, PDPartYaw, PPartNick, PPartRoll; |
||
663 | static int32_t IPartNick = 0, IPartRoll = 0; |
||
664 | |||
886 | killagreg | 665 | static int32_t SetPointYaw = 0; |
1180 | killagreg | 666 | static int32_t IntegralGyroNickError = 0, IntegralGyroRollError = 0; |
667 | static int32_t CorrectionNick, CorrectionRoll; |
||
886 | killagreg | 668 | static uint16_t RcLostTimer; |
669 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
||
670 | static uint8_t HeightControlActive = 0; |
||
911 | killagreg | 671 | static int16_t HeightControlGas = 0; |
1180 | killagreg | 672 | static int8_t TimerDebugOut = 0; |
886 | killagreg | 673 | static uint16_t UpdateCompassCourse = 0; |
1180 | killagreg | 674 | // high resolution motor values for smoothing of PID motor outputs |
675 | static int16_t MotorValue1 = 0, MotorValue2 = 0, MotorValue3 = 0, MotorValue4 = 0; |
||
676 | #ifndef USE_QUADRO |
||
677 | static int16_t MotorValue5 = 0, MotorValue6 = 0, MotorValue7 = 0, MotorValue8 = 0; |
||
678 | #endif |
||
1 | ingob | 679 | |
886 | killagreg | 680 | Mean(); |
681 | GRN_ON; |
||
1 | ingob | 682 | |
886 | killagreg | 683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 684 | // determine gas value |
886 | killagreg | 685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 686 | GasMixFraction = StickGas; |
1180 | killagreg | 687 | if(GasMixFraction < ParamSet.GasMin + 10) GasMixFraction = ParamSet.GasMin + 10; |
886 | killagreg | 688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | // RC-signal is bad |
||
690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
691 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
||
692 | { |
||
693 | if(!PcAccess) // if also no PC-Access via UART |
||
694 | { |
||
695 | if(BeepModulation == 0xFFFF) |
||
696 | { |
||
1180 | killagreg | 697 | BeepTime = 15000; // 1.5 seconds |
698 | BeepModulation = 0x0C00; |
||
886 | killagreg | 699 | } |
700 | } |
||
701 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
||
702 | else // rc lost countdown finished |
||
703 | { |
||
1180 | killagreg | 704 | MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
886 | killagreg | 705 | } |
936 | killagreg | 706 | RED_ON; // set red led |
1180 | killagreg | 707 | if(ModelIsFlying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
886 | killagreg | 708 | { |
911 | killagreg | 709 | GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
936 | killagreg | 710 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
886 | killagreg | 711 | // set neutral rc inputs |
911 | killagreg | 712 | PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
886 | killagreg | 713 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
714 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
911 | killagreg | 715 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
886 | killagreg | 716 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
717 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
718 | } |
||
936 | killagreg | 719 | else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
886 | killagreg | 720 | } // eof RC_Quality < 120 |
721 | else |
||
722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
723 | // RC-signal is good |
||
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
725 | if(RC_Quality > 140) |
||
726 | { |
||
936 | killagreg | 727 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
886 | killagreg | 728 | // reset emergency timer |
911 | killagreg | 729 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
936 | killagreg | 730 | if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
886 | killagreg | 731 | { |
1180 | killagreg | 732 | if(ModelIsFlying < 0xFFFF) ModelIsFlying++; |
886 | killagreg | 733 | } |
1180 | killagreg | 734 | if(ModelIsFlying < 256) |
886 | killagreg | 735 | { |
1180 | killagreg | 736 | IPartNick = 0; |
737 | IPartRoll = 0; |
||
886 | killagreg | 738 | StickYaw = 0; |
1180 | killagreg | 739 | if(ModelIsFlying == 250) |
936 | killagreg | 740 | { |
741 | UpdateCompassCourse = 1; |
||
1180 | killagreg | 742 | ReadingIntegralGyroYaw = 0; |
936 | killagreg | 743 | SetPointYaw = 0; |
744 | } |
||
886 | killagreg | 745 | } |
936 | killagreg | 746 | else MKFlags |= (MKFLAG_FLY); // set fly flag |
604 | hbuss | 747 | |
886 | killagreg | 748 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
749 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
||
750 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
||
751 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
||
752 | //PPM24-Extension |
||
753 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
||
754 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
||
755 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
||
756 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
||
757 | //limit poti values |
||
758 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
759 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
760 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
761 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
762 | //PPM24-Extension |
||
763 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
||
764 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
||
765 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
||
766 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
||
723 | hbuss | 767 | |
911 | killagreg | 768 | // if motors are off and the gas stick is in the upper position |
936 | killagreg | 769 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
886 | killagreg | 770 | { |
771 | // and if the yaw stick is in the leftmost position |
||
772 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
774 | // calibrate the neutral readings of all attitude sensors |
||
775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
776 | { |
||
911 | killagreg | 777 | // gas/yaw joystick is top left |
886 | killagreg | 778 | // _________ |
779 | // |x | |
||
780 | // | | |
||
781 | // | | |
||
782 | // | | |
||
783 | // | | |
||
784 | // ¯¯¯¯¯¯¯¯¯ |
||
785 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
786 | { |
||
787 | delay_neutral = 0; |
||
788 | GRN_OFF; |
||
1180 | killagreg | 789 | ModelIsFlying = 0; |
911 | killagreg | 790 | // check roll/nick stick position |
791 | // if nick stick is top or roll stick is left or right --> change parameter setting |
||
792 | // according to roll/nick stick position |
||
793 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
||
886 | killagreg | 794 | { |
795 | uint8_t setting = 1; // default |
||
911 | killagreg | 796 | // nick/roll joystick |
886 | killagreg | 797 | // _________ |
798 | // |2 3 4| |
||
799 | // | | |
||
800 | // |1 5| |
||
801 | // | | |
||
802 | // | | |
||
803 | // ¯¯¯¯¯¯¯¯¯ |
||
911 | killagreg | 804 | // roll stick leftmost and nick stick centered --> setting 1 |
805 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
||
806 | // roll stick leftmost and nick stick topmost --> setting 2 |
||
807 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
||
808 | // roll stick centered an nick stick topmost --> setting 3 |
||
809 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
||
810 | // roll stick rightmost and nick stick topmost --> setting 4 |
||
811 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
||
812 | // roll stick rightmost and nick stick centered --> setting 5 |
||
813 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
||
886 | killagreg | 814 | // update active parameter set in eeprom |
815 | SetActiveParamSet(setting); |
||
816 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
1180 | killagreg | 817 | SetNeutral(NO_ACC_CALIB); |
886 | killagreg | 818 | Beep(GetActiveParamSet()); |
819 | } |
||
820 | else |
||
821 | { |
||
953 | killagreg | 822 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
886 | killagreg | 823 | { |
911 | killagreg | 824 | // if roll stick is centered and nick stick is down |
1078 | killagreg | 825 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 30 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
886 | killagreg | 826 | { |
911 | killagreg | 827 | // nick/roll joystick |
886 | killagreg | 828 | // _________ |
829 | // | | |
||
830 | // | | |
||
831 | // | | |
||
832 | // | | |
||
833 | // | x | |
||
834 | // ¯¯¯¯¯¯¯¯¯ |
||
835 | // enable calibration state of compass |
||
836 | CompassCalState = 1; |
||
837 | BeepTime = 1000; |
||
838 | } |
||
911 | killagreg | 839 | else // nick and roll are centered |
886 | killagreg | 840 | { |
841 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
1180 | killagreg | 842 | SetNeutral(NO_ACC_CALIB); |
886 | killagreg | 843 | Beep(GetActiveParamSet()); |
844 | } |
||
845 | } |
||
911 | killagreg | 846 | else // nick and roll are centered |
886 | killagreg | 847 | { |
848 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
1180 | killagreg | 849 | SetNeutral(NO_ACC_CALIB); |
886 | killagreg | 850 | Beep(GetActiveParamSet()); |
851 | } |
||
852 | } |
||
853 | } |
||
854 | } |
||
855 | // and if the yaw stick is in the rightmost position |
||
856 | // save the ACC neutral setting to eeprom |
||
857 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
858 | { |
||
1180 | killagreg | 859 | // gas/yaw joystick is top right |
860 | // _________ |
||
861 | // | x| |
||
862 | // | | |
||
863 | // | | |
||
864 | // | | |
||
865 | // | | |
||
866 | // ¯¯¯¯¯¯¯¯¯ |
||
886 | killagreg | 867 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
868 | { |
||
869 | delay_neutral = 0; |
||
870 | GRN_OFF; |
||
1180 | killagreg | 871 | ModelIsFlying = 0; |
872 | SetNeutral(ACC_CALIB); |
||
886 | killagreg | 873 | Beep(GetActiveParamSet()); |
874 | } |
||
875 | } |
||
876 | else delay_neutral = 0; |
||
877 | } |
||
878 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 879 | // gas stick is down |
886 | killagreg | 880 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 881 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
886 | killagreg | 882 | { |
883 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
884 | { |
||
1180 | killagreg | 885 | // gas/yaw joystick is bottom right |
886 | // _________ |
||
887 | // | | |
||
888 | // | | |
||
889 | // | | |
||
890 | // | | |
||
891 | // | x| |
||
892 | // ¯¯¯¯¯¯¯¯¯ |
||
893 | // Start Motors |
||
886 | killagreg | 894 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
895 | { |
||
896 | delay_startmotors = 200; // do not repeat if once executed |
||
1180 | killagreg | 897 | ModelIsFlying = 1; |
936 | killagreg | 898 | MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
886 | killagreg | 899 | SetPointYaw = 0; |
1180 | killagreg | 900 | ReadingIntegralGyroYaw = 0; |
901 | ReadingIntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
||
902 | ReadingIntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
||
903 | ReadingIntegralGyroNick2 = IntegralGyroNick; |
||
904 | ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
||
905 | IPartNick = 0; |
||
906 | IPartRoll = 0; |
||
886 | killagreg | 907 | } |
908 | } |
||
909 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
||
1180 | killagreg | 910 | |
886 | killagreg | 911 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
1180 | killagreg | 912 | { |
913 | // gas/yaw joystick is bottom left |
||
914 | // _________ |
||
915 | // | | |
||
916 | // | | |
||
917 | // | | |
||
918 | // | | |
||
919 | // |x | |
||
920 | // ¯¯¯¯¯¯¯¯¯ |
||
921 | // Stop Motors |
||
886 | killagreg | 922 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
923 | { |
||
924 | delay_stopmotors = 200; // do not repeat if once executed |
||
1180 | killagreg | 925 | ModelIsFlying = 0; |
936 | killagreg | 926 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
886 | killagreg | 927 | } |
928 | } |
||
929 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
||
930 | } |
||
931 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
||
932 | } // eof RC_Quality > 150 |
||
1180 | killagreg | 933 | |
886 | killagreg | 934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
935 | // new values from RC |
||
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
936 | killagreg | 937 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
886 | killagreg | 938 | { |
939 | ParameterMapping(); // remapping params (online poti replacement) |
||
940 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
||
1180 | killagreg | 941 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
942 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
||
943 | StickNick -= (GPSStickNick); |
||
723 | hbuss | 944 | |
1180 | killagreg | 945 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
946 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
||
947 | StickRoll -= (GPSStickRoll); |
||
595 | hbuss | 948 | |
1180 | killagreg | 949 | // mapping of yaw |
886 | killagreg | 950 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
1180 | killagreg | 951 | // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
952 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
||
953 | { |
||
954 | if (StickYaw > 2) StickYaw-= 2; |
||
955 | else if (StickYaw< -2) StickYaw += 2; |
||
956 | else StickYaw = 0; |
||
957 | } |
||
958 | |||
959 | // mapping of gas |
||
911 | killagreg | 960 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
1 | ingob | 961 | |
886 | killagreg | 962 | // update gyro control loop factors |
1180 | killagreg | 963 | GyroPFactor = FCParam.GyroP + 10; |
964 | GyroIFactor = FCParam.GyroI; |
||
886 | killagreg | 965 | |
492 | hbuss | 966 | |
595 | hbuss | 967 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 968 | //+ Analog control via serial communication |
595 | hbuss | 969 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 970 | |
936 | killagreg | 971 | if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
886 | killagreg | 972 | { |
1180 | killagreg | 973 | StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.StickP; |
974 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.StickP; |
||
886 | killagreg | 975 | StickYaw += ExternControl.Yaw; |
976 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
||
911 | killagreg | 977 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
886 | killagreg | 978 | } |
911 | killagreg | 979 | if(StickGas < 0) StickGas = 0; |
723 | hbuss | 980 | |
886 | killagreg | 981 | // disable I part of gyro control feedback |
1180 | killagreg | 982 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) GyroIFactor = 0; |
723 | hbuss | 983 | |
911 | killagreg | 984 | // update max stick positions for nick and roll |
936 | killagreg | 985 | if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
986 | { |
||
987 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
988 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
989 | } |
||
911 | killagreg | 990 | else MaxStickNick--; |
936 | killagreg | 991 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
992 | { |
||
993 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
994 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
995 | } |
||
886 | killagreg | 996 | else MaxStickRoll--; |
997 | |||
998 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
173 | holgerb | 999 | // Looping? |
886 | killagreg | 1000 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1001 | |
1180 | killagreg | 1002 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_LEFT) LoopingLeft = 1; |
886 | killagreg | 1003 | else |
1004 | { |
||
1180 | killagreg | 1005 | if(LoopingLeft) // Hysteresis |
886 | killagreg | 1006 | { |
1180 | killagreg | 1007 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingLeft = 0; |
886 | killagreg | 1008 | } |
1009 | } |
||
1180 | killagreg | 1010 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_RIGHT) LoopingRight = 1; |
886 | killagreg | 1011 | else |
1012 | { |
||
1180 | killagreg | 1013 | if(LoopingRight) // Hysteresis |
886 | killagreg | 1014 | { |
1180 | killagreg | 1015 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingRight = 0; |
886 | killagreg | 1016 | } |
1017 | } |
||
395 | hbuss | 1018 | |
1180 | killagreg | 1019 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_UP) LoopingTop = 1; |
886 | killagreg | 1020 | else |
1021 | { |
||
1180 | killagreg | 1022 | if(LoopingTop) // Hysteresis |
886 | killagreg | 1023 | { |
1180 | killagreg | 1024 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingTop = 0; |
886 | killagreg | 1025 | } |
1026 | } |
||
1180 | killagreg | 1027 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_DOWN) LoopingDown = 1; |
886 | killagreg | 1028 | else |
1029 | { |
||
1180 | killagreg | 1030 | if(LoopingDown) // Hysteresis |
886 | killagreg | 1031 | { |
1180 | killagreg | 1032 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingDown = 0; |
886 | killagreg | 1033 | } |
1034 | } |
||
395 | hbuss | 1035 | |
1180 | killagreg | 1036 | if(LoopingLeft || LoopingRight) LoopingRoll = 1; else LoopingRoll = 0; |
1037 | if(LoopingTop || LoopingDown) { LoopingNick = 1; LoopingRoll = 0; LoopingLeft = 0; LoopingRight = 0;} else LoopingNick = 0; |
||
886 | killagreg | 1038 | } // End of new RC-Values or Emergency Landing |
173 | holgerb | 1039 | |
395 | hbuss | 1040 | |
1180 | killagreg | 1041 | if(LoopingRoll || LoopingNick) |
886 | killagreg | 1042 | { |
911 | killagreg | 1043 | if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
1180 | killagreg | 1044 | FunnelCourse = 1; |
886 | killagreg | 1045 | } |
395 | hbuss | 1046 | |
886 | killagreg | 1047 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1048 | // in case of emergency landing |
||
1049 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1050 | // set all inputs to save values |
||
936 | killagreg | 1051 | if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
886 | killagreg | 1052 | { |
1053 | StickYaw = 0; |
||
911 | killagreg | 1054 | StickNick = 0; |
886 | killagreg | 1055 | StickRoll = 0; |
1180 | killagreg | 1056 | GyroPFactor = 90; |
1057 | GyroIFactor = 120; |
||
1058 | LoopingRoll = 0; |
||
1059 | LoopingNick = 0; |
||
911 | killagreg | 1060 | MaxStickNick = 0; |
886 | killagreg | 1061 | MaxStickRoll = 0; |
1062 | } |
||
395 | hbuss | 1063 | |
886 | killagreg | 1064 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1065 | // Trim Gyro-Integrals to ACC-Signals |
||
1066 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
614 | hbuss | 1067 | |
886 | killagreg | 1068 | #define BALANCE_NUMBER 256L |
1069 | // sum for averaging |
||
1180 | killagreg | 1070 | MeanIntegralGyroNick += IntegralGyroNick; |
1071 | MeanIntegralGyroRoll += IntegralGyroRoll; |
||
614 | hbuss | 1072 | |
1180 | killagreg | 1073 | if( LoopingNick || LoopingRoll) // if looping in any direction |
886 | killagreg | 1074 | { |
1075 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
||
1076 | MeasurementCounter = 0; |
||
469 | hbuss | 1077 | |
1180 | killagreg | 1078 | MeanAccNick = 0; |
1079 | MeanAccRoll = 0; |
||
614 | hbuss | 1080 | |
1180 | killagreg | 1081 | MeanIntegralGyroNick = 0; |
1082 | MeanIntegralGyroRoll = 0; |
||
395 | hbuss | 1083 | |
1180 | killagreg | 1084 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
1085 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
||
498 | hbuss | 1086 | |
911 | killagreg | 1087 | AttitudeCorrectionNick = 0; |
886 | killagreg | 1088 | AttitudeCorrectionRoll = 0; |
1089 | } |
||
395 | hbuss | 1090 | |
886 | killagreg | 1091 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | killagreg | 1092 | if(! LoopingNick && !LoopingRoll && (AdValueAccZ > 512)) // if not lopping in any direction or rapid falling |
886 | killagreg | 1093 | { |
1094 | int32_t tmp_long, tmp_long2; |
||
1180 | killagreg | 1095 | if( FCParam.KalmanK != -1) |
1078 | killagreg | 1096 | { |
1097 | // determine the deviation of gyro integral from averaged acceleration sensor |
||
1180 | killagreg | 1098 | tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
1099 | tmp_long = (tmp_long * FCParam.KalmanK) / (32 * 16); |
||
1100 | tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
||
1101 | tmp_long2 = (tmp_long2 * FCParam.KalmanK) / (32 * 16); |
||
395 | hbuss | 1102 | |
1078 | killagreg | 1103 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
1104 | { |
||
1105 | tmp_long /= 2; |
||
1106 | tmp_long2 /= 2; |
||
1107 | } |
||
1108 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
||
1109 | { |
||
1110 | tmp_long /= 3; |
||
1111 | tmp_long2 /= 3; |
||
1112 | } |
||
1113 | // limit correction effect |
||
1180 | killagreg | 1114 | if(tmp_long > (int32_t)FCParam.KalmanMaxFusion) tmp_long = (int32_t)FCParam.KalmanMaxFusion; |
1115 | if(tmp_long < -(int32_t)FCParam.KalmanMaxFusion) tmp_long =-(int32_t)FCParam.KalmanMaxFusion; |
||
1116 | if(tmp_long2 > (int32_t)FCParam.KalmanMaxFusion) tmp_long2 = (int32_t)FCParam.KalmanMaxFusion; |
||
1117 | if(tmp_long2 <-(int32_t)FCParam.KalmanMaxFusion) tmp_long2 =-(int32_t)FCParam.KalmanMaxFusion; |
||
886 | killagreg | 1118 | } |
1078 | killagreg | 1119 | else |
886 | killagreg | 1120 | { |
1180 | killagreg | 1121 | // determine the deviation of gyro integral from acceleration sensor |
1122 | tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
||
1078 | killagreg | 1123 | tmp_long /= 16; |
1180 | killagreg | 1124 | tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
1078 | killagreg | 1125 | tmp_long2 /= 16; |
1126 | |||
1127 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
||
1128 | { |
||
1129 | tmp_long /= 3; |
||
1130 | tmp_long2 /= 3; |
||
1131 | } |
||
1132 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
||
1133 | { |
||
1134 | tmp_long /= 3; |
||
1135 | tmp_long2 /= 3; |
||
1136 | } |
||
1137 | |||
1138 | #define BALANCE 32 |
||
1139 | // limit correction effect |
||
1180 | killagreg | 1140 | CHECK_MIN_MAX(tmp_long, -BALANCE, BALANCE); |
1141 | CHECK_MIN_MAX(tmp_long2, -BALANCE, BALANCE); |
||
886 | killagreg | 1142 | } |
1143 | // correct current readings |
||
1180 | killagreg | 1144 | ReadingIntegralGyroNick -= tmp_long; |
1145 | ReadingIntegralGyroRoll -= tmp_long2; |
||
886 | killagreg | 1146 | } |
1147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1148 | // MeasurementCounter is incremented in the isr of analog.c |
||
1149 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
||
1150 | { |
||
1151 | static int16_t cnt = 0; |
||
1152 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
||
1180 | killagreg | 1153 | static int32_t MeanIntegralGyroNick_old, MeanIntegralGyroRoll_old; |
720 | ingob | 1154 | |
1180 | killagreg | 1155 | // if not lopping in any direction (this should be always the case, |
886 | killagreg | 1156 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
1180 | killagreg | 1157 | if(! LoopingNick && !LoopingRoll && !FunnelCourse && ParamSet.DriftComp) |
886 | killagreg | 1158 | { |
1159 | // Calculate mean value of the gyro integrals |
||
1180 | killagreg | 1160 | MeanIntegralGyroNick /= BALANCE_NUMBER; |
1161 | MeanIntegralGyroRoll /= BALANCE_NUMBER; |
||
720 | ingob | 1162 | |
1180 | killagreg | 1163 | // Calculate mean of the acceleration values scaled to the gyro integrals |
1164 | MeanAccNick = (ParamSet.GyroAccFactor * MeanAccNick) / BALANCE_NUMBER; |
||
1165 | MeanAccRoll = (ParamSet.GyroAccFactor * MeanAccRoll) / BALANCE_NUMBER; |
||
720 | ingob | 1166 | |
911 | killagreg | 1167 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 1168 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
1180 | killagreg | 1169 | IntegralGyroNickError = (int32_t)(MeanIntegralGyroNick - (int32_t)MeanAccNick); |
1170 | CorrectionNick = IntegralGyroNickError / ParamSet.GyroAccTrim; |
||
911 | killagreg | 1171 | AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
886 | killagreg | 1172 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1173 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
||
1180 | killagreg | 1174 | IntegralGyroRollError = (int32_t)(MeanIntegralGyroRoll - (int32_t)MeanAccRoll); |
1175 | CorrectionRoll = IntegralGyroRollError / ParamSet.GyroAccTrim; |
||
886 | killagreg | 1176 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
1177 | |||
1180 | killagreg | 1178 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) && (FCParam.KalmanK == -1) ) |
886 | killagreg | 1179 | { |
911 | killagreg | 1180 | AttitudeCorrectionNick /= 2; |
886 | killagreg | 1181 | AttitudeCorrectionRoll /= 2; |
1182 | } |
||
1183 | |||
1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1185 | // Gyro-Drift ermitteln |
||
1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1180 | killagreg | 1187 | // deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
1188 | IntegralGyroNickError = IntegralGyroNick2 - IntegralGyroNick; |
||
1189 | ReadingIntegralGyroNick2 -= IntegralGyroNickError; |
||
1190 | // deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
||
1191 | IntegralGyroRollError = IntegralGyroRoll2 - IntegralGyroRoll; |
||
1192 | ReadingIntegralGyroRoll2 -= IntegralGyroRollError; |
||
886 | killagreg | 1193 | |
1180 | killagreg | 1194 | if(ParamSet.DriftComp) |
1195 | { |
||
1196 | if(YawGyroDrift > BALANCE_NUMBER/2) AdBiasGyroYaw++; |
||
1197 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdBiasGyroYaw--; |
||
1198 | } |
||
886 | killagreg | 1199 | YawGyroDrift = 0; |
1200 | |||
1201 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
||
1202 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
||
1203 | #define MOVEMENT_LIMIT 20000 |
||
911 | killagreg | 1204 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | killagreg | 1205 | cnt = 1;// + labs(IntegralGyroNickError) / 4096; |
911 | killagreg | 1206 | CorrectionNick = 0; |
1180 | killagreg | 1207 | if((labs(MeanIntegralGyroNick_old - MeanIntegralGyroNick) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
886 | killagreg | 1208 | { |
1180 | killagreg | 1209 | if(IntegralGyroNickError > ERROR_LIMIT2) |
886 | killagreg | 1210 | { |
1211 | if(last_n_p) |
||
1212 | { |
||
1180 | killagreg | 1213 | cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
1214 | CorrectionNick = IntegralGyroNickError / 8; |
||
911 | killagreg | 1215 | if(CorrectionNick > 5000) CorrectionNick = 5000; |
1216 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
||
886 | killagreg | 1217 | } |
1218 | else last_n_p = 1; |
||
1219 | } |
||
1220 | else last_n_p = 0; |
||
1180 | killagreg | 1221 | if(IntegralGyroNickError < -ERROR_LIMIT2) |
886 | killagreg | 1222 | { |
1223 | if(last_n_n) |
||
1224 | { |
||
1180 | killagreg | 1225 | cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
1226 | CorrectionNick = IntegralGyroNickError / 8; |
||
911 | killagreg | 1227 | if(CorrectionNick < -5000) CorrectionNick = -5000; |
1228 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
||
886 | killagreg | 1229 | } |
1230 | else last_n_n = 1; |
||
1231 | } |
||
1232 | else last_n_n = 0; |
||
1233 | } |
||
1234 | else |
||
1235 | { |
||
1236 | cnt = 0; |
||
936 | killagreg | 1237 | BadCompassHeading = 1000; |
886 | killagreg | 1238 | } |
1239 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
1180 | killagreg | 1240 | if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
886 | killagreg | 1241 | // correct Gyro Offsets |
1180 | killagreg | 1242 | if(IntegralGyroNickError > ERROR_LIMIT) BiasHiResGyroNick += cnt; |
1243 | if(IntegralGyroNickError < -ERROR_LIMIT) BiasHiResGyroNick -= cnt; |
||
886 | killagreg | 1244 | |
1245 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1180 | killagreg | 1246 | cnt = 1;// + labs(IntegralGyroNickError) / 4096; |
886 | killagreg | 1247 | CorrectionRoll = 0; |
1180 | killagreg | 1248 | if((labs(MeanIntegralGyroRoll_old - MeanIntegralGyroRoll) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
886 | killagreg | 1249 | { |
1180 | killagreg | 1250 | if(IntegralGyroRollError > ERROR_LIMIT2) |
886 | killagreg | 1251 | { |
1252 | if(last_r_p) |
||
1253 | { |
||
1180 | killagreg | 1254 | cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
1255 | CorrectionRoll = IntegralGyroRollError / 8; |
||
886 | killagreg | 1256 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1257 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
1258 | } |
||
1259 | else last_r_p = 1; |
||
1260 | } |
||
1261 | else last_r_p = 0; |
||
1180 | killagreg | 1262 | if(IntegralGyroRollError < -ERROR_LIMIT2) |
886 | killagreg | 1263 | { |
1264 | if(last_r_n) |
||
1265 | { |
||
1180 | killagreg | 1266 | cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
1267 | CorrectionRoll = IntegralGyroRollError / 8; |
||
886 | killagreg | 1268 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1269 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
1270 | } |
||
1271 | else last_r_n = 1; |
||
1272 | } |
||
1273 | else last_r_n = 0; |
||
1274 | } |
||
1275 | else |
||
1276 | { |
||
1277 | cnt = 0; |
||
936 | killagreg | 1278 | BadCompassHeading = 1000; |
886 | killagreg | 1279 | } |
1280 | // correct Gyro Offsets |
||
1281 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
1180 | killagreg | 1282 | if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
1283 | if(IntegralGyroRollError > ERROR_LIMIT) BiasHiResGyroRoll += cnt; |
||
1284 | if(IntegralGyroRollError < -ERROR_LIMIT) BiasHiResGyroRoll -= cnt; |
||
1078 | killagreg | 1285 | |
886 | killagreg | 1286 | } |
1287 | else // looping is active |
||
1288 | { |
||
1289 | AttitudeCorrectionRoll = 0; |
||
911 | killagreg | 1290 | AttitudeCorrectionNick = 0; |
886 | killagreg | 1291 | FunnelCourse = 0; |
1292 | } |
||
395 | hbuss | 1293 | |
1180 | killagreg | 1294 | // if GyroIFactor == 0 , for example at Heading Hold, ignore attitude correction |
1295 | if(!GyroIFactor) |
||
886 | killagreg | 1296 | { |
1297 | AttitudeCorrectionRoll = 0; |
||
911 | killagreg | 1298 | AttitudeCorrectionNick = 0; |
886 | killagreg | 1299 | } |
1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1180 | killagreg | 1301 | MeanIntegralGyroNick_old = MeanIntegralGyroNick; |
1302 | MeanIntegralGyroRoll_old = MeanIntegralGyroRoll; |
||
886 | killagreg | 1303 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | killagreg | 1304 | // reset variables used for next averaging |
1305 | MeanAccNick = 0; |
||
1306 | MeanAccRoll = 0; |
||
1307 | MeanIntegralGyroNick = 0; |
||
1308 | MeanIntegralGyroRoll = 0; |
||
886 | killagreg | 1309 | MeasurementCounter = 0; |
1310 | } // end of averaging |
||
401 | hbuss | 1311 | |
492 | hbuss | 1312 | |
886 | killagreg | 1313 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1314 | // Yawing |
||
1315 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1316 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
||
1317 | { |
||
936 | killagreg | 1318 | BadCompassHeading = 1000; |
886 | killagreg | 1319 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1320 | { |
||
1321 | UpdateCompassCourse = 1; |
||
1322 | } |
||
1323 | } |
||
1324 | // exponential stick sensitivity in yawring rate |
||
1180 | killagreg | 1325 | tmp_int = (int32_t) ParamSet.StickYawP * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1326 | tmp_int += (ParamSet.StickYawP * StickYaw) / 4; |
||
886 | killagreg | 1327 | SetPointYaw = tmp_int; |
1180 | killagreg | 1328 | // trimm drift of ReadingIntegralGyroYaw with SetPointYaw(StickYaw) |
1329 | ReadingIntegralGyroYaw -= tmp_int; |
||
886 | killagreg | 1330 | // limit the effect |
1180 | killagreg | 1331 | CHECK_MIN_MAX(ReadingIntegralGyroYaw, -50000, 50000) |
614 | hbuss | 1332 | |
886 | killagreg | 1333 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1334 | // Compass |
||
1335 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1336 | // compass code is used if Compass option is selected |
||
953 | killagreg | 1337 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
886 | killagreg | 1338 | { |
1339 | int16_t w, v, r,correction, error; |
||
395 | hbuss | 1340 | |
936 | killagreg | 1341 | if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
886 | killagreg | 1342 | { |
1343 | SetCompassCalState(); |
||
1344 | #ifdef USE_KILLAGREG |
||
1345 | MM3_Calibrate(); |
||
1346 | #endif |
||
1347 | } |
||
1348 | else |
||
1349 | { |
||
1350 | #ifdef USE_KILLAGREG |
||
1351 | static uint8_t updCompass = 0; |
||
1352 | if (!updCompass--) |
||
1353 | { |
||
1354 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
||
1355 | MM3_Heading(); |
||
1356 | } |
||
1357 | #endif |
||
819 | hbuss | 1358 | |
886 | killagreg | 1359 | // get maximum attitude angle |
1180 | killagreg | 1360 | w = abs(IntegralGyroNick / 512); |
1361 | v = abs(IntegralGyroRoll / 512); |
||
886 | killagreg | 1362 | if(v > w) w = v; |
936 | killagreg | 1363 | correction = w / 8 + 1; |
886 | killagreg | 1364 | // calculate the deviation of the yaw gyro heading and the compass heading |
1365 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
||
1180 | killagreg | 1366 | else error = ((540 + CompassHeading - (YawGyroHeading / GYRO_DEG_FACTOR)) % 360) - 180; |
1367 | if(abs(GyroYaw) > 128) // spinning fast |
||
1078 | killagreg | 1368 | { |
1369 | error = 0; |
||
1370 | } |
||
936 | killagreg | 1371 | if(!BadCompassHeading && w < 25) |
1372 | { |
||
1373 | YawGyroDrift += error; |
||
1374 | if(UpdateCompassCourse) |
||
1375 | { |
||
1376 | BeepTime = 200; |
||
1180 | killagreg | 1377 | YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
1378 | CompassCourse = (int16_t)(YawGyroHeading / GYRO_DEG_FACTOR); |
||
936 | killagreg | 1379 | UpdateCompassCourse = 0; |
1380 | } |
||
1381 | } |
||
886 | killagreg | 1382 | YawGyroHeading += (error * 8) / correction; |
936 | killagreg | 1383 | w = (w * FCParam.CompassYawEffect) / 32; |
886 | killagreg | 1384 | w = FCParam.CompassYawEffect - w; |
936 | killagreg | 1385 | if(w >= 0) |
886 | killagreg | 1386 | { |
936 | killagreg | 1387 | if(!BadCompassHeading) |
1388 | { |
||
911 | killagreg | 1389 | v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
886 | killagreg | 1390 | // calc course deviation |
1180 | killagreg | 1391 | r = ((540 + (YawGyroHeading / GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
886 | killagreg | 1392 | v = (r * w) / v; // align to compass course |
1393 | // limit yaw rate |
||
1394 | w = 3 * FCParam.CompassYawEffect; |
||
1395 | if (v > w) v = w; |
||
1396 | else if (v < -w) v = -w; |
||
1180 | killagreg | 1397 | ReadingIntegralGyroYaw += v; |
886 | killagreg | 1398 | } |
936 | killagreg | 1399 | else |
1400 | { // wait a while |
||
1401 | BadCompassHeading--; |
||
1402 | } |
||
886 | killagreg | 1403 | } |
1404 | else |
||
1405 | { // ignore compass at extreme attitudes for a while |
||
936 | killagreg | 1406 | BadCompassHeading = 500; |
886 | killagreg | 1407 | } |
1408 | } |
||
1409 | } |
||
1 | ingob | 1410 | |
953 | killagreg | 1411 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
886 | killagreg | 1412 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1413 | // GPS |
||
1414 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1415 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
||
1416 | { |
||
936 | killagreg | 1417 | GPS_Main(); |
1418 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
||
886 | killagreg | 1419 | } |
1420 | else |
||
1421 | { |
||
1180 | killagreg | 1422 | GPSStickNick = 0; |
1423 | GPSStickRoll = 0; |
||
886 | killagreg | 1424 | } |
1425 | #endif |
||
1426 | |||
1427 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1428 | // Debugwerte zuordnen |
886 | killagreg | 1429 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1430 | if(!TimerDebugOut--) |
||
1431 | { |
||
1432 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
||
1180 | killagreg | 1433 | DebugOut.Analog[0] = (10 * IntegralGyroNick) / GYRO_DEG_FACTOR; // in 0.1 deg |
1434 | DebugOut.Analog[1] = (10 * IntegralGyroRoll) / GYRO_DEG_FACTOR; // in 0.1 deg |
||
1435 | DebugOut.Analog[2] = (10 * AccNick) / ACC_DEG_FACTOR; // in 0.1 deg |
||
1436 | DebugOut.Analog[3] = (10 * AccRoll) / ACC_DEG_FACTOR; // in 0.1 deg |
||
1437 | DebugOut.Analog[4] = GyroYaw; |
||
886 | killagreg | 1438 | DebugOut.Analog[5] = ReadingHeight; |
1180 | killagreg | 1439 | DebugOut.Analog[6] = (ReadingIntegralTop / 512); |
886 | killagreg | 1440 | DebugOut.Analog[8] = CompassHeading; |
1441 | DebugOut.Analog[9] = UBat; |
||
1442 | DebugOut.Analog[10] = RC_Quality; |
||
1180 | killagreg | 1443 | DebugOut.Analog[11] = YawGyroHeading / GYRO_DEG_FACTOR; |
1444 | DebugOut.Analog[19] = CompassCalState; |
||
1445 | // DebugOut.Analog[24] = GyroNick/2; |
||
1446 | // DebugOut.Analog[25] = GyroRoll/2; |
||
1447 | DebugOut.Analog[27] = (int16_t)FCParam.KalmanMaxDrift; |
||
1448 | // DebugOut.Analog[28] = (int16_t)FCParam.KalmanMaxFusion; |
||
1449 | // DebugOut.Analog[29] = (int16_t)FCParam.KalmanK; |
||
1450 | DebugOut.Analog[30] = GPSStickNick; |
||
1451 | DebugOut.Analog[31] = GPSStickRoll; |
||
886 | killagreg | 1452 | } |
604 | hbuss | 1453 | |
886 | killagreg | 1454 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1455 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
||
1456 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1457 | |
1180 | killagreg | 1458 | #define TRIM_LIMIT 200 |
1459 | CHECK_MIN_MAX(TrimNick, -TRIM_LIMIT, TRIM_LIMIT); |
||
1460 | CHECK_MIN_MAX(TrimRoll, -TRIM_LIMIT, TRIM_LIMIT); |
||
854 | hbuss | 1461 | |
1180 | killagreg | 1462 | if(FunnelCourse) |
1463 | { |
||
1464 | IPartNick = 0; |
||
1465 | IPartRoll = 0; |
||
1466 | } |
||
1 | ingob | 1467 | |
1180 | killagreg | 1468 | if(! LoopingNick) |
1469 | { |
||
1470 | PPartNick = (IntegralGyroNick * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
||
1471 | } |
||
1472 | else |
||
1473 | { |
||
1474 | PPartNick = 0; |
||
1475 | } |
||
1476 | PDPartNick = PPartNick + (int32_t)((int32_t)GyroNick * GyroPFactor + (int32_t)TrimNick * 128L) / (256L / STICK_GAIN); // +D-Part |
||
1477 | |||
1478 | if(!LoopingRoll) |
||
1479 | { |
||
1480 | PPartRoll = (IntegralGyroRoll * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
||
1481 | } |
||
1482 | else |
||
1483 | { |
||
1484 | PPartRoll = 0; |
||
1485 | } |
||
1486 | PDPartRoll = PPartRoll + (int32_t)((int32_t)GyroRoll * GyroPFactor + (int32_t)TrimRoll * 128L) / (256L / STICK_GAIN); // +D-Part |
||
1487 | |||
1488 | // octo has a double yaw momentum because of the doubled motor number |
||
1489 | // therefore double D-Part and halfen P-Part for the same result |
||
1490 | #ifdef USE_OCTO |
||
1491 | PDPartYaw = (int32_t)(GyroYaw * 4 * (int32_t)GyroPFactor) / (256L / STICK_GAIN) + (int32_t)(IntegralGyroYaw * GyroIFactor) / (4 * (44000 / STICK_GAIN)); |
||
1492 | #else |
||
1493 | PDPartYaw = (int32_t)(GyroYaw * 2 * (int32_t)GyroPFactor) / (256L / STICK_GAIN) + (int32_t)(IntegralGyroYaw * GyroIFactor) / (2 * (44000 / STICK_GAIN)); |
||
1494 | #endif |
||
1495 | |||
1496 | //DebugOut.Analog[21] = PDPartNick; |
||
1497 | //DebugOut.Analog[22] = PDPartRoll; |
||
1498 | |||
886 | killagreg | 1499 | // limit control feedback |
1180 | killagreg | 1500 | #define SENSOR_LIMIT (4096 * 4) |
1501 | CHECK_MIN_MAX(PDPartNick, -SENSOR_LIMIT, SENSOR_LIMIT); |
||
1502 | CHECK_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
||
1503 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
||
855 | hbuss | 1504 | |
886 | killagreg | 1505 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1506 | // Height Control |
||
911 | killagreg | 1507 | // The height control algorithm reduces the gas but does not increase the gas. |
886 | killagreg | 1508 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1509 | |
911 | killagreg | 1510 | GasMixFraction *= STICK_GAIN; |
513 | hbuss | 1511 | |
1078 | killagreg | 1512 | // if height control is activated and no emergency landing is active |
936 | killagreg | 1513 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
886 | killagreg | 1514 | { |
1515 | int tmp_int; |
||
1078 | killagreg | 1516 | static uint8_t delay = 100; |
886 | killagreg | 1517 | // if height control is activated by an rc channel |
1518 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
||
1519 | { // check if parameter is less than activation threshold |
||
1078 | killagreg | 1520 | if( |
1521 | ( (ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && ( (FCParam.MaxHeight > 80) && (FCParam.MaxHeight < 140) ) )|| // for 3-state switch height control is only disabled in center position |
||
1522 | (!(ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && (FCParam.MaxHeight < 50) ) // for 2-State switch height control is disabled in lower position |
||
1523 | ) |
||
1524 | { //hight control not active |
||
1525 | if(!delay--) |
||
1526 | { |
||
1527 | // measurement of air pressure close to upper limit |
||
1528 | if(ReadingAirPressure > 1000) |
||
1529 | { // lower offset |
||
1530 | ExpandBaro -= 10; |
||
1531 | OCR0A = PressureSensorOffset - ExpandBaro; |
||
1532 | BeepTime = 300; |
||
1533 | delay = 250; |
||
1534 | } |
||
1535 | // measurement of air pressure close to lower limit |
||
1536 | else if(ReadingAirPressure < 100) |
||
1537 | { // increase offset |
||
1538 | ExpandBaro += 10; |
||
1539 | OCR0A = PressureSensorOffset - ExpandBaro; |
||
1540 | BeepTime = 300; |
||
1541 | delay = 250; |
||
1542 | } |
||
1543 | else |
||
1544 | { |
||
1545 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
||
1546 | HeightControlActive = 0; // disable height control |
||
1547 | delay = 1; |
||
1548 | } |
||
1549 | } |
||
886 | killagreg | 1550 | } |
1078 | killagreg | 1551 | else |
1552 | { //hight control not active |
||
1553 | HeightControlActive = 1; // enable height control |
||
1554 | delay = 200; |
||
1555 | } |
||
886 | killagreg | 1556 | } |
1557 | else // no switchable height control |
||
1558 | { |
||
1559 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
||
1560 | HeightControlActive = 1; |
||
1561 | } |
||
1562 | // get current height |
||
1563 | h = ReadingHeight; |
||
911 | killagreg | 1564 | // if current height is above the setpoint reduce gas |
886 | killagreg | 1565 | if((h > SetPointHeight) && HeightControlActive) |
1566 | { |
||
1567 | // height difference -> P control part |
||
1180 | killagreg | 1568 | h = ((h - SetPointHeight) * (int16_t) FCParam.HeightP) / (16 / STICK_GAIN); |
911 | killagreg | 1569 | h = GasMixFraction - h; // reduce gas |
886 | killagreg | 1570 | // height gradient --> D control part |
1180 | killagreg | 1571 | //h -= (HeightD * FCParam.HeightD) / (8 / STICK_GAIN); // D control part |
886 | killagreg | 1572 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1573 | // acceleration sensor effect |
||
1180 | killagreg | 1574 | tmp_int = ((ReadingIntegralTop / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
886 | killagreg | 1575 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1576 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
||
1577 | h -= tmp_int; |
||
911 | killagreg | 1578 | // update height control gas |
1579 | HeightControlGas = (HeightControlGas*15 + h) / 16; |
||
1580 | // limit gas reduction |
||
1180 | killagreg | 1581 | if(HeightControlGas < ParamSet.HeightMinGas * STICK_GAIN) |
886 | killagreg | 1582 | { |
1180 | killagreg | 1583 | if(GasMixFraction >= ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = ParamSet.HeightMinGas * STICK_GAIN; |
911 | killagreg | 1584 | // allows landing also if gas stick is reduced below min gas on height control |
1180 | killagreg | 1585 | if(GasMixFraction < ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
886 | killagreg | 1586 | } |
911 | killagreg | 1587 | // limit gas to stick setting |
1588 | if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
||
1589 | GasMixFraction = HeightControlGas; |
||
886 | killagreg | 1590 | } |
1591 | } |
||
911 | killagreg | 1592 | // limit gas to parameter setting |
1180 | killagreg | 1593 | if(GasMixFraction > (ParamSet.GasMax - 20) * STICK_GAIN) GasMixFraction = (ParamSet.GasMax - 20) * STICK_GAIN; |
886 | killagreg | 1594 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1595 | // + Mixer and PI-Controller |
||
1596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 1597 | DebugOut.Analog[7] = GasMixFraction; |
1180 | killagreg | 1598 | |
886 | killagreg | 1599 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1600 | // Yaw-Fraction |
||
1601 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1180 | killagreg | 1602 | YawMixFraction = PDPartYaw - SetPointYaw * STICK_GAIN; // yaw controller |
911 | killagreg | 1603 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
886 | killagreg | 1604 | // limit YawMixFraction |
911 | killagreg | 1605 | if(GasMixFraction > MIN_YAWGAS) |
886 | killagreg | 1606 | { |
1180 | killagreg | 1607 | CHECK_MIN_MAX(YawMixFraction, -(GasMixFraction / 2), (GasMixFraction / 2)); |
886 | killagreg | 1608 | } |
1609 | else |
||
1610 | { |
||
1180 | killagreg | 1611 | CHECK_MIN_MAX(YawMixFraction, -(MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
886 | killagreg | 1612 | } |
1180 | killagreg | 1613 | tmp_int = ParamSet.GasMax * STICK_GAIN; |
1614 | CHECK_MIN_MAX(YawMixFraction, -(tmp_int - GasMixFraction), (tmp_int - GasMixFraction)); |
||
173 | holgerb | 1615 | |
886 | killagreg | 1616 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 1617 | // Nick-Axis |
886 | killagreg | 1618 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | killagreg | 1619 | DiffNick = PDPartNick - StickNick; // get difference |
1620 | if(GyroIFactor) IPartNick += PPartNick - StickNick; // I-part for attitude control |
||
1621 | else IPartNick += DiffNick; // I-part for head holding |
||
1622 | CHECK_MIN_MAX(IPartNick, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
||
1623 | NickMixFraction = DiffNick + (IPartNick / Ki); // PID-controller for nick |
||
886 | killagreg | 1624 | |
1625 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1626 | // Roll-Axis |
||
1627 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1180 | killagreg | 1628 | DiffRoll = PDPartRoll - StickRoll; // get difference |
1629 | if(GyroIFactor) IPartRoll += PPartRoll - StickRoll; // I-part for attitude control |
||
1630 | else IPartRoll += DiffRoll; // I-part for head holding |
||
1631 | CHECK_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
||
1632 | RollMixFraction = DiffRoll + (IPartRoll / Ki); // PID-controller for roll |
||
886 | killagreg | 1633 | |
1180 | killagreg | 1634 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1635 | // Limiter |
||
1636 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1637 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction) / 2)) / 64; |
||
1638 | CHECK_MIN_MAX(NickMixFraction, -tmp_int, tmp_int); |
||
1639 | CHECK_MIN_MAX(RollMixFraction, -tmp_int, tmp_int); |
||
886 | killagreg | 1640 | |
1180 | killagreg | 1641 | #ifdef USE_QUADRO |
1642 | |||
1643 | // QuadroKopter Mixer |
||
1644 | |||
1645 | // Motor Front (++) |
||
1646 | MotorValue = GasMixFraction + NickMixFraction + YawMixFraction; |
||
1647 | MotorValue1 = MotorSmoothing(MotorValue, MotorValue1); |
||
1648 | MotorValue = MotorValue1 / STICK_GAIN; |
||
1649 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1650 | Motor1 = MotorValue; |
||
1651 | |||
1652 | // Motor Rear (-+) |
||
1653 | MotorValue = GasMixFraction - NickMixFraction + YawMixFraction; |
||
1654 | MotorValue2 = MotorSmoothing(MotorValue, MotorValue2); |
||
1655 | MotorValue = MotorValue2 / STICK_GAIN; |
||
1656 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1657 | Motor2 = MotorValue; |
||
1658 | |||
1659 | // Motor Right (--) |
||
1660 | MotorValue = GasMixFraction - RollMixFraction - YawMixFraction; |
||
1661 | MotorValue3 = MotorSmoothing(MotorValue, MotorValue3); |
||
1662 | MotorValue = MotorValue3 / STICK_GAIN; |
||
1663 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1664 | Motor3 = MotorValue; |
||
1665 | |||
1666 | // Motor Left (+-) |
||
1667 | MotorValue = GasMixFraction + RollMixFraction - YawMixFraction; |
||
1668 | MotorValue4 = MotorSmoothing(MotorValue, MotorValue4); |
||
1669 | MotorValue = MotorValue4 / STICK_GAIN; |
||
1670 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1671 | Motor4 = MotorValue; |
||
1672 | |||
1673 | #endif |
||
1674 | |||
1675 | #ifdef USE_OCTO |
||
1676 | |||
1677 | // OctoKopter Mixer |
||
1678 | |||
1679 | // Motor 1 (+++) |
||
1680 | MotorValue = GasMixFraction + NickMixFraction + RollMixFraction + YawMixFraction; |
||
1681 | MotorValue1 = MotorSmoothing(MotorValue, MotorValue1); |
||
1682 | MotorValue = MotorValue1 / STICK_GAIN; |
||
1683 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1684 | Motor1= MotorValue; |
||
1685 | |||
1686 | // Motor 2 (+--) |
||
1687 | MotorValue = GasMixFraction + NickMixFraction - RollMixFraction - YawMixFraction; |
||
1688 | MotorValue2 = MotorSmoothing(MotorValue, MotorValue2); |
||
1689 | MotorValue = MotorValue2 / STICK_GAIN; |
||
1690 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1691 | Motor2 = MotorValue; |
||
1692 | |||
1693 | // Motor 3 (+-+) |
||
1694 | MotorValue = GasMixFraction + NickMixFraction - RollMixFraction + YawMixFraction; |
||
1695 | MotorValue3 = MotorSmoothing(MotorValue, MotorValue3); |
||
1696 | MotorValue = MotorValue3 / STICK_GAIN; |
||
1697 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1698 | Motor3 = MotorValue; |
||
1699 | |||
1700 | // Motor 4 (---) |
||
1701 | MotorValue = GasMixFraction - NickMixFraction - RollMixFraction - YawMixFraction; |
||
1702 | MotorValue4 = MotorSmoothing(MotorValue, MotorValue4); |
||
1703 | MotorValue = MotorValue4 / STICK_GAIN; |
||
1704 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1705 | Motor4 = MotorValue; |
||
1706 | |||
1707 | // Motor 5 (--+) |
||
1708 | MotorValue = GasMixFraction - NickMixFraction - RollMixFraction + YawMixFraction; |
||
1709 | MotorValue5 = MotorSmoothing(MotorValue, MotorValue5); |
||
1710 | MotorValue = MotorValue5 / STICK_GAIN; |
||
1711 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1712 | Motor5 = MotorValue; |
||
1713 | |||
1714 | // Motor 6 (-+-) |
||
1715 | MotorValue = GasMixFraction - NickMixFraction + RollMixFraction - YawMixFraction; |
||
1716 | MotorValue6 = MotorSmoothing(MotorValue, MotorValue6); |
||
1717 | MotorValue = MotorValue6 / STICK_GAIN; |
||
1718 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1719 | Motor6 = MotorValue; |
||
1720 | |||
1721 | // Motor7 (-++) |
||
1722 | MotorValue = GasMixFraction - NickMixFraction + RollMixFraction + YawMixFraction; |
||
1723 | MotorValue7 = MotorSmoothing(MotorValue, MotorValue7); |
||
1724 | MotorValue = MotorValue7 / STICK_GAIN; |
||
1725 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1726 | Motor7 = MotorValue; |
||
1727 | |||
1728 | // Motor8 (++-) |
||
1729 | MotorValue = GasMixFraction + NickMixFraction + RollMixFraction - YawMixFraction; |
||
1730 | MotorValue8 = MotorSmoothing(MotorValue, MotorValue8); |
||
1731 | MotorValue = MotorValue8 / STICK_GAIN; |
||
1732 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1733 | Motor8 = MotorValue; |
||
1734 | #endif |
||
1735 | |||
1736 | #ifdef USE_OCTO2 |
||
1737 | |||
1738 | // Octokopter Mixer alternativ setup |
||
1739 | |||
1740 | MotorValue = GasMixFraction + NickMixFraction + YawMixFraction; |
||
1741 | MotorValue1 = MotorSmoothing(MotorValue, MotorValue1); |
||
1742 | MotorValue = MotorValue1 / STICK_GAIN; |
||
1743 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1744 | Motor1 = MotorValue; |
||
1745 | |||
1746 | MotorValue = GasMixFraction + NickMixFraction - RollMixFraction - YawMixFraction; |
||
1747 | MotorValue2 = MotorSmoothing(MotorValue, MotorValue2); |
||
1748 | MotorValue = MotorValue2 / STICK_GAIN; |
||
1749 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1750 | Motor2 = MotorValue; |
||
1751 | |||
1752 | MotorValue = GasMixFraction - RollMixFraction + YawMixFraction; |
||
1753 | MotorValue3 = MotorSmoothing(MotorValue, MotorValue3); |
||
1754 | MotorValue = MotorValue3 / STICK_GAIN; |
||
1755 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1756 | Motor3 = MotorValue; |
||
1757 | |||
1758 | MotorValue = GasMixFraction - NickMixFraction - RollMixFraction - YawMixFraction; |
||
1759 | MotorValue4 = MotorSmoothing(MotorValue, MotorValue4); |
||
1760 | MotorValue = MotorValue4 / STICK_GAIN; |
||
1761 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1762 | Motor4 = MotorValue; |
||
1763 | |||
1764 | MotorValue = GasMixFraction - RollMixFraction + YawMixFraction; |
||
1765 | MotorValue5 = MotorSmoothing(MotorValue, MotorValue5); |
||
1766 | MotorValue = MotorValue5 / STICK_GAIN; |
||
1767 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1768 | Motor5 = MotorValue; |
||
1769 | |||
1770 | MotorValue = GasMixFraction - NickMixFraction + RollMixFraction - YawMixFraction; |
||
1771 | MotorValue6 = MotorSmoothing(MotorValue, MotorValue6); |
||
1772 | MotorValue = MotorValue6 / STICK_GAIN; |
||
1773 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1774 | Motor6 = MotorValue; |
||
1775 | |||
1776 | MotorValue = GasMixFraction + RollMixFraction + YawMixFraction; |
||
1777 | MotorValue7 = MotorSmoothing(MotorValue, MotorValue7); |
||
1778 | MotorValue = MotorValue7 / STICK_GAIN; |
||
1779 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1780 | Motor7 = MotorValue; |
||
1781 | |||
1782 | MotorValue = GasMixFraction + NickMixFraction + RollMixFraction - YawMixFraction; |
||
1783 | MotorValue8 = MotorSmoothing(MotorValue, MotorValue8); |
||
1784 | MotorValue = MotorValue8 / STICK_GAIN; |
||
1785 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1786 | Motor8 = MotorValue; |
||
1787 | #endif |
||
1788 | |||
1789 | #ifdef USE_OCTO3 |
||
1790 | |||
1791 | // Octokopter Mixer alternativ setup |
||
1792 | |||
1793 | MotorValue = GasMixFraction + NickMixFraction + YawMixFraction; |
||
1794 | MotorValue1 = MotorSmoothing(MotorValue, MotorValue1); |
||
1795 | MotorValue = MotorValue1 / STICK_GAIN; |
||
1796 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1797 | Motor1 = MotorValue; |
||
1798 | |||
1799 | MotorValue = GasMixFraction + NickMixFraction - YawMixFraction; |
||
1800 | MotorValue2 = MotorSmoothing(MotorValue, MotorValue2); |
||
1801 | MotorValue = MotorValue2 / STICK_GAIN; |
||
1802 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1803 | Motor2 = MotorValue; |
||
1804 | |||
1805 | MotorValue = GasMixFraction - RollMixFraction + YawMixFraction; |
||
1806 | MotorValue3 = MotorSmoothing(MotorValue, MotorValue3); |
||
1807 | MotorValue = MotorValue3 / STICK_GAIN; |
||
1808 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1809 | Motor3 = MotorValue; |
||
1810 | |||
1811 | MotorValue = GasMixFraction - RollMixFraction - YawMixFraction; |
||
1812 | MotorValue4 = MotorSmoothing(MotorValue, MotorValue4); |
||
1813 | MotorValue = MotorValue4 / STICK_GAIN; |
||
1814 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1815 | Motor4 = MotorValue; |
||
1816 | |||
1817 | MotorValue = GasMixFraction - NickMixFraction + YawMixFraction; |
||
1818 | MotorValue5 = MotorSmoothing(MotorValue, MotorValue5); |
||
1819 | MotorValue = MotorValue5 / STICK_GAIN; |
||
1820 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1821 | Motor5 = MotorValue; |
||
1822 | |||
1823 | MotorValue = GasMixFraction - NickMixFraction - YawMixFraction; |
||
1824 | MotorValue6 = MotorSmoothing(MotorValue, MotorValue6); |
||
1825 | MotorValue = MotorValue6 / STICK_GAIN; |
||
1826 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1827 | Motor6 = MotorValue; |
||
1828 | |||
1829 | MotorValue = GasMixFraction + RollMixFraction + YawMixFraction; |
||
1830 | MotorValue7 = MotorSmoothing(MotorValue, MotorValue7); |
||
1831 | MotorValue = MotorValue7 / STICK_GAIN; |
||
1832 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1833 | Motor7 = MotorValue; |
||
1834 | |||
1835 | MotorValue = GasMixFraction + RollMixFraction - YawMixFraction; |
||
1836 | MotorValue8 = MotorSmoothing(MotorValue, MotorValue8); |
||
1837 | MotorValue = MotorValue8 / STICK_GAIN; |
||
1838 | CHECK_MIN_MAX(MotorValue, ParamSet.GasMin, ParamSet.GasMax); |
||
1839 | Motor8 = MotorValue; |
||
1840 | #endif |
||
1841 | |||
1842 | |||
1 | ingob | 1843 | } |
1844 |