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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 "_Settings.h" |
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61 | #include "analog.h" |
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62 | #include "fc.h" |
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63 | #include "uart.h" |
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64 | #include "rc.h" |
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65 | #include "twimaster.h" |
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66 | #include "timer2.h" |
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67 | #ifdef USE_KILLAGREG |
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68 | #include "mm3.h" |
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69 | #include "gps.h" |
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70 | #endif |
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908 | killagreg | 71 | #ifdef USE_MK3MAG |
886 | killagreg | 72 | #include "mk3mag.h" |
908 | killagreg | 73 | #include "gps.h" |
886 | killagreg | 74 | #endif |
75 | #include "led.h" |
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1078 | killagreg | 76 | #include "spi.h" |
1 | ingob | 77 | |
886 | killagreg | 78 | // gyro readings |
936 | killagreg | 79 | int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
886 | killagreg | 80 | // gyro neutral readings |
936 | killagreg | 81 | int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
82 | int16_t StartNeutralRoll = 0, StartNeutralNick = 0; |
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886 | killagreg | 83 | // mean accelerations |
936 | killagreg | 84 | int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
886 | killagreg | 85 | |
86 | // neutral acceleration readings |
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87 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
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1 | ingob | 88 | volatile float NeutralAccZ = 0; |
89 | |||
886 | killagreg | 90 | // attitude gyro integrals |
936 | killagreg | 91 | int32_t IntegralNick = 0,IntegralNick2 = 0; |
92 | int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
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93 | int32_t IntegralYaw = 0; |
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94 | int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0; |
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95 | int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
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96 | int32_t Reading_IntegralGyroYaw = 0; |
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97 | int32_t MeanIntegralNick; |
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98 | int32_t MeanIntegralRoll; |
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1 | ingob | 99 | |
886 | killagreg | 100 | // attitude acceleration integrals |
936 | killagreg | 101 | int32_t IntegralAccNick = 0, IntegralAccRoll = 0; |
886 | killagreg | 102 | volatile int32_t Reading_Integral_Top = 0; |
103 | |||
104 | // compass course |
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105 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
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106 | volatile int16_t CompassCourse = -1; |
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107 | volatile int16_t CompassOffCourse = 0; |
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108 | volatile uint8_t CompassCalState = 0; |
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109 | uint8_t FunnelCourse = 0; |
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110 | uint16_t BadCompassHeading = 500; |
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111 | int32_t YawGyroHeading; |
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112 | int16_t YawGyroDrift; |
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113 | |||
114 | |||
911 | killagreg | 115 | int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
886 | killagreg | 116 | |
117 | |||
936 | killagreg | 118 | // MK flags |
886 | killagreg | 119 | uint16_t Model_Is_Flying = 0; |
936 | killagreg | 120 | volatile uint8_t MKFlags = 0; |
886 | killagreg | 121 | |
911 | killagreg | 122 | int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
886 | killagreg | 123 | |
124 | float Gyro_P_Factor; |
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125 | float Gyro_I_Factor; |
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126 | |||
936 | killagreg | 127 | int16_t DiffNick, DiffRoll; |
886 | killagreg | 128 | |
129 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
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130 | |||
131 | // setpoints for motors |
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132 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
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133 | |||
134 | // stick values derived by rc channels readings |
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911 | killagreg | 135 | int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
136 | int16_t GPS_Nick = 0, GPS_Roll = 0; |
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886 | killagreg | 137 | |
911 | killagreg | 138 | int16_t MaxStickNick = 0, MaxStickRoll = 0; |
886 | killagreg | 139 | // stick values derived by uart inputs |
911 | killagreg | 140 | int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
886 | killagreg | 141 | |
142 | |||
143 | |||
144 | int16_t ReadingHeight = 0; |
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145 | int16_t SetPointHeight = 0; |
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146 | |||
911 | killagreg | 147 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
886 | killagreg | 148 | |
149 | float Ki = FACTOR_I; |
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150 | |||
911 | killagreg | 151 | uint8_t Looping_Nick = 0, Looping_Roll = 0; |
886 | killagreg | 152 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
153 | |||
154 | |||
155 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
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156 | |||
157 | |||
158 | /************************************************************************/ |
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159 | /* Creates numbeeps beeps at the speaker */ |
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160 | /************************************************************************/ |
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161 | void Beep(uint8_t numbeeps) |
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1 | ingob | 162 | { |
886 | killagreg | 163 | while(numbeeps--) |
164 | { |
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936 | killagreg | 165 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
886 | killagreg | 166 | BeepTime = 100; // 0.1 second |
167 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
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168 | // this will block the flight control loop, |
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952 | killagreg | 169 | // therefore do not use this function if motors are running |
886 | killagreg | 170 | } |
1 | ingob | 171 | } |
172 | |||
886 | killagreg | 173 | /************************************************************************/ |
174 | /* Neutral Readings */ |
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175 | /************************************************************************/ |
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1 | ingob | 176 | void SetNeutral(void) |
177 | { |
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886 | killagreg | 178 | NeutralAccX = 0; |
1 | ingob | 179 | NeutralAccY = 0; |
180 | NeutralAccZ = 0; |
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911 | killagreg | 181 | AdNeutralNick = 0; |
886 | killagreg | 182 | AdNeutralRoll = 0; |
183 | AdNeutralYaw = 0; |
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184 | FCParam.Yaw_PosFeedback = 0; |
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185 | FCParam.Yaw_NegFeedback = 0; |
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1078 | killagreg | 186 | ExpandBaro = 0; |
886 | killagreg | 187 | CalibMean(); |
395 | hbuss | 188 | Delay_ms_Mess(100); |
886 | killagreg | 189 | CalibMean(); |
190 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
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513 | hbuss | 191 | { |
886 | killagreg | 192 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
513 | hbuss | 193 | } |
911 | killagreg | 194 | AdNeutralNick = AdValueGyrNick; |
886 | killagreg | 195 | AdNeutralRoll = AdValueGyrRoll; |
196 | AdNeutralYaw = AdValueGyrYaw; |
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197 | StartNeutralRoll = AdNeutralRoll; |
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911 | killagreg | 198 | StartNeutralNick = AdNeutralNick; |
199 | if(GetParamWord(PID_ACC_NICK) > 1023) |
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513 | hbuss | 200 | { |
886 | killagreg | 201 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
911 | killagreg | 202 | NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY; |
886 | killagreg | 203 | NeutralAccZ = Current_AccZ; |
513 | hbuss | 204 | } |
886 | killagreg | 205 | else |
206 | { |
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911 | killagreg | 207 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
886 | killagreg | 208 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
209 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
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210 | } |
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911 | killagreg | 211 | Reading_IntegralGyroNick = 0; |
212 | Reading_IntegralGyroNick2 = 0; |
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886 | killagreg | 213 | Reading_IntegralGyroRoll = 0; |
214 | Reading_IntegralGyroRoll2 = 0; |
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215 | Reading_IntegralGyroYaw = 0; |
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911 | killagreg | 216 | Reading_GyroNick = 0; |
886 | killagreg | 217 | Reading_GyroRoll = 0; |
218 | Reading_GyroYaw = 0; |
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936 | killagreg | 219 | Delay_ms_Mess(100); |
886 | killagreg | 220 | StartAirPressure = AirPressure; |
221 | HeightD = 0; |
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222 | Reading_Integral_Top = 0; |
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223 | CompassCourse = CompassHeading; |
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224 | BeepTime = 50; |
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911 | killagreg | 225 | TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
886 | killagreg | 226 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
227 | ExternHeightValue = 0; |
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911 | killagreg | 228 | GPS_Nick = 0; |
886 | killagreg | 229 | GPS_Roll = 0; |
230 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
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231 | YawGyroDrift = 0; |
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936 | killagreg | 232 | MKFlags |= MKFLAG_CALIBRATE; |
1078 | killagreg | 233 | FromNaviCtrl_Value.Kalman_K = -1; |
234 | FromNaviCtrl_Value.Kalman_MaxDrift = ParamSet.DriftComp * 16; |
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235 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
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1 | ingob | 236 | } |
237 | |||
886 | killagreg | 238 | /************************************************************************/ |
239 | /* Averaging Measurement Readings */ |
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240 | /************************************************************************/ |
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241 | void Mean(void) |
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242 | { |
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243 | static int32_t tmpl,tmpl2; |
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401 | hbuss | 244 | |
886 | killagreg | 245 | // Get offset corrected gyro readings (~ to angular velocity) |
246 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
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247 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
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911 | killagreg | 248 | Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
604 | hbuss | 249 | |
886 | killagreg | 250 | // Acceleration Sensor |
251 | // sliding average sensor readings |
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911 | killagreg | 252 | Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
886 | killagreg | 253 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
254 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
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255 | |||
256 | // sum sensor readings for later averaging |
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911 | killagreg | 257 | IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
886 | killagreg | 258 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
259 | |||
911 | killagreg | 260 | NaviAccNick += AdValueAccNick; |
886 | killagreg | 261 | NaviAccRoll += AdValueAccRoll; |
805 | hbuss | 262 | NaviCntAcc++; |
882 | hbuss | 263 | |
886 | killagreg | 264 | // Yaw |
265 | // calculate yaw gyro integral (~ to rotation angle) |
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266 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
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267 | YawGyroHeading += Reading_GyroYaw; |
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268 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
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269 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
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395 | hbuss | 270 | |
1 | ingob | 271 | |
886 | killagreg | 272 | // Coupling fraction |
911 | killagreg | 273 | if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
886 | killagreg | 274 | { |
911 | killagreg | 275 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L; |
886 | killagreg | 276 | tmpl *= FCParam.Yaw_PosFeedback; |
277 | tmpl /= 4096L; |
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278 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
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279 | tmpl2 *= FCParam.Yaw_PosFeedback; |
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280 | tmpl2 /= 4096L; |
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281 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
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282 | } |
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283 | else tmpl = tmpl2 = 0; |
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284 | |||
285 | // Roll |
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286 | Reading_GyroRoll += tmpl; |
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287 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
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288 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
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289 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
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290 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
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291 | { |
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292 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
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293 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
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294 | } |
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295 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
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296 | { |
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297 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
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298 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
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299 | } |
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300 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
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301 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
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302 | if(BoardRelease == 10) |
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303 | { |
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304 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
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305 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
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306 | } |
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307 | else |
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308 | { |
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309 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
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310 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
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311 | } |
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911 | killagreg | 312 | // Nick |
313 | Reading_GyroNick -= tmpl2; |
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314 | Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
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315 | Reading_IntegralGyroNick2 += Reading_GyroNick; |
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316 | Reading_IntegralGyroNick += Reading_GyroNick - AttitudeCorrectionNick; |
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317 | if(Reading_IntegralGyroNick > TurnOver180Nick) |
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886 | killagreg | 318 | { |
911 | killagreg | 319 | Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L); |
320 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
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886 | killagreg | 321 | } |
911 | killagreg | 322 | if(Reading_IntegralGyroNick < -TurnOver180Nick) |
886 | killagreg | 323 | { |
911 | killagreg | 324 | Reading_IntegralGyroNick = (TurnOver180Nick - 25000L); |
325 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
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886 | killagreg | 326 | } |
911 | killagreg | 327 | if(AdValueGyrNick < 15) Reading_GyroNick = -1000; |
328 | if(AdValueGyrNick < 7) Reading_GyroNick = -2000; |
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886 | killagreg | 329 | if(BoardRelease == 10) |
330 | { |
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911 | killagreg | 331 | if(AdValueGyrNick > 1010) Reading_GyroNick = +1000; |
332 | if(AdValueGyrNick > 1017) Reading_GyroNick = +2000; |
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886 | killagreg | 333 | } |
334 | else |
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335 | { |
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911 | killagreg | 336 | if(AdValueGyrNick > 2020) Reading_GyroNick = +1000; |
337 | if(AdValueGyrNick > 2034) Reading_GyroNick = +2000; |
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886 | killagreg | 338 | } |
339 | |||
340 | // start ADC again to capture measurement values for the next loop |
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341 | ADC_Enable(); |
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342 | |||
343 | IntegralYaw = Reading_IntegralGyroYaw; |
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911 | killagreg | 344 | IntegralNick = Reading_IntegralGyroNick; |
886 | killagreg | 345 | IntegralRoll = Reading_IntegralGyroRoll; |
911 | killagreg | 346 | IntegralNick2 = Reading_IntegralGyroNick2; |
886 | killagreg | 347 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
348 | |||
911 | killagreg | 349 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll) |
886 | killagreg | 350 | { |
911 | killagreg | 351 | if(Reading_GyroNick > 200) Reading_GyroNick += 4 * (Reading_GyroNick - 200); |
352 | else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200); |
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886 | killagreg | 353 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
354 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
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355 | } |
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1 | ingob | 356 | } |
357 | |||
886 | killagreg | 358 | /************************************************************************/ |
359 | /* Averaging Measurement Readings for Calibration */ |
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360 | /************************************************************************/ |
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361 | void CalibMean(void) |
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362 | { |
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1078 | killagreg | 363 | if(BoardRelease == 13) SearchGyroOffset(); |
886 | killagreg | 364 | // stop ADC to avoid changing values during calculation |
365 | ADC_Disable(); |
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395 | hbuss | 366 | |
911 | killagreg | 367 | Reading_GyroNick = AdValueGyrNick; |
886 | killagreg | 368 | Reading_GyroRoll = AdValueGyrRoll; |
369 | Reading_GyroYaw = AdValueGyrYaw; |
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370 | |||
911 | killagreg | 371 | Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
886 | killagreg | 372 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
373 | Mean_AccTop = (int32_t)AdValueAccTop; |
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374 | // start ADC (enables internal trigger so that the ISR in analog.c |
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375 | // updates the readings once) |
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376 | ADC_Enable(); |
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377 | |||
911 | killagreg | 378 | TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
886 | killagreg | 379 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
1 | ingob | 380 | } |
381 | |||
886 | killagreg | 382 | /************************************************************************/ |
383 | /* Transmit Motor Data via I2C */ |
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384 | /************************************************************************/ |
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1 | ingob | 385 | void SendMotorData(void) |
886 | killagreg | 386 | { |
936 | killagreg | 387 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
886 | killagreg | 388 | { |
389 | Motor_Rear = 0; |
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390 | Motor_Front = 0; |
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391 | Motor_Right = 0; |
||
392 | Motor_Left = 0; |
||
393 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
||
394 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
||
395 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
||
396 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
||
936 | killagreg | 397 | MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
398 | } |
||
886 | killagreg | 399 | DebugOut.Analog[12] = Motor_Front; |
400 | DebugOut.Analog[13] = Motor_Rear; |
||
401 | DebugOut.Analog[14] = Motor_Left; |
||
402 | DebugOut.Analog[15] = Motor_Right; |
||
1 | ingob | 403 | |
404 | //Start I2C Interrupt Mode |
||
936 | killagreg | 405 | twi_state = TWI_STATE_MOTOR_TX; |
886 | killagreg | 406 | I2C_Start(); |
1 | ingob | 407 | } |
408 | |||
409 | |||
410 | |||
886 | killagreg | 411 | /************************************************************************/ |
412 | /* Maps the parameter to poti values */ |
||
413 | /************************************************************************/ |
||
414 | void ParameterMapping(void) |
||
1 | ingob | 415 | { |
886 | killagreg | 416 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
417 | // else the last updated values are used |
||
418 | { |
||
419 | //update poti values by rc-signals |
||
936 | killagreg | 420 | #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;} |
421 | #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;} |
||
422 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
||
423 | CHK_POTI_MM(FCParam.Height_D,ParamSet.Height_D,0,100); |
||
424 | CHK_POTI_MM(FCParam.Height_P,ParamSet.Height_P,0,100); |
||
425 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
||
426 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
||
427 | CHK_POTI_MM(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
||
428 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I); |
||
429 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor); |
||
430 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
||
431 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
||
432 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
||
433 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
||
434 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
||
435 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
||
436 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
||
437 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
||
438 | CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
||
439 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
||
440 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback); |
||
441 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback); |
||
442 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
||
443 | CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
||
444 | CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
||
1078 | killagreg | 445 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
936 | killagreg | 446 | CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
447 | CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
||
448 | CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
||
449 | CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
||
450 | CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
||
451 | CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
||
1078 | killagreg | 452 | CHK_POTI_MM(FCParam.NaviOperatingRadius,ParamSet.NaviOperatingRadius,10, 255); |
453 | CHK_POTI(FCParam.NaviWindCorrection,ParamSet.NaviWindCorrection); |
||
454 | CHK_POTI(FCParam.NaviSpeedCompensation,NaviSpeedCompensation.NaviGpsACC); |
||
455 | #endif |
||
936 | killagreg | 456 | CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
886 | killagreg | 457 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
458 | } |
||
459 | } |
||
1 | ingob | 460 | |
461 | |||
886 | killagreg | 462 | void SetCompassCalState(void) |
463 | { |
||
464 | static uint8_t stick = 1; |
||
465 | |||
911 | killagreg | 466 | // if nick is centered or top set stick to zero |
467 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
||
468 | // if nick is down trigger to next cal state |
||
469 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
||
886 | killagreg | 470 | { |
471 | stick = 1; |
||
472 | CompassCalState++; |
||
1078 | killagreg | 473 | if(CompassCalState < 5) Beep(CompassCalState); |
886 | killagreg | 474 | else BeepTime = 1000; |
475 | } |
||
1 | ingob | 476 | } |
477 | |||
478 | |||
819 | hbuss | 479 | |
886 | killagreg | 480 | /************************************************************************/ |
481 | /* MotorControl */ |
||
482 | /************************************************************************/ |
||
483 | void MotorControl(void) |
||
1 | ingob | 484 | { |
886 | killagreg | 485 | int16_t MotorValue, pd_result, h, tmp_int; |
911 | killagreg | 486 | int16_t YawMixFraction, GasMixFraction; |
487 | static int32_t SumNick = 0, SumRoll = 0; |
||
886 | killagreg | 488 | static int32_t SetPointYaw = 0; |
911 | killagreg | 489 | static int32_t IntegralErrorNick = 0; |
886 | killagreg | 490 | static int32_t IntegralErrorRoll = 0; |
491 | static uint16_t RcLostTimer; |
||
492 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
||
493 | static uint8_t HeightControlActive = 0; |
||
911 | killagreg | 494 | static int16_t HeightControlGas = 0; |
886 | killagreg | 495 | static int8_t TimerDebugOut = 0; |
496 | static uint16_t UpdateCompassCourse = 0; |
||
911 | killagreg | 497 | static int32_t CorrectionNick, CorrectionRoll; |
1 | ingob | 498 | |
886 | killagreg | 499 | Mean(); |
500 | GRN_ON; |
||
1 | ingob | 501 | |
886 | killagreg | 502 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 503 | // determine gas value |
886 | killagreg | 504 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 505 | GasMixFraction = StickGas; |
506 | if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10; |
||
886 | killagreg | 507 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
508 | // RC-signal is bad |
||
509 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
510 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
||
511 | { |
||
512 | if(!PcAccess) // if also no PC-Access via UART |
||
513 | { |
||
514 | if(BeepModulation == 0xFFFF) |
||
515 | { |
||
516 | BeepTime = 15000; // 1.5 seconds |
||
517 | BeepModulation = 0x0C00; |
||
518 | } |
||
519 | } |
||
520 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
||
521 | else // rc lost countdown finished |
||
522 | { |
||
936 | killagreg | 523 | MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
886 | killagreg | 524 | } |
936 | killagreg | 525 | RED_ON; // set red led |
886 | killagreg | 526 | if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
527 | { |
||
911 | killagreg | 528 | GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
936 | killagreg | 529 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
886 | killagreg | 530 | // set neutral rc inputs |
911 | killagreg | 531 | PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
886 | killagreg | 532 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
533 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
911 | killagreg | 534 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
886 | killagreg | 535 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
536 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
||
537 | } |
||
936 | killagreg | 538 | else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
886 | killagreg | 539 | } // eof RC_Quality < 120 |
540 | else |
||
541 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
542 | // RC-signal is good |
||
543 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
544 | if(RC_Quality > 140) |
||
545 | { |
||
936 | killagreg | 546 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
886 | killagreg | 547 | // reset emergency timer |
911 | killagreg | 548 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
936 | killagreg | 549 | if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
886 | killagreg | 550 | { |
551 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
||
552 | } |
||
553 | if(Model_Is_Flying < 256) |
||
554 | { |
||
911 | killagreg | 555 | SumNick = 0; |
886 | killagreg | 556 | SumRoll = 0; |
557 | StickYaw = 0; |
||
936 | killagreg | 558 | if(Model_Is_Flying == 250) |
559 | { |
||
560 | UpdateCompassCourse = 1; |
||
561 | Reading_IntegralGyroYaw = 0; |
||
562 | SetPointYaw = 0; |
||
563 | } |
||
886 | killagreg | 564 | } |
936 | killagreg | 565 | else MKFlags |= (MKFLAG_FLY); // set fly flag |
604 | hbuss | 566 | |
886 | killagreg | 567 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
568 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
||
569 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
||
570 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
||
571 | //PPM24-Extension |
||
572 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
||
573 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
||
574 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
||
575 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
||
576 | //limit poti values |
||
577 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
578 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
579 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
580 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
581 | //PPM24-Extension |
||
582 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
||
583 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
||
584 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
||
585 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
||
723 | hbuss | 586 | |
911 | killagreg | 587 | // if motors are off and the gas stick is in the upper position |
936 | killagreg | 588 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
886 | killagreg | 589 | { |
590 | // and if the yaw stick is in the leftmost position |
||
591 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
592 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
593 | // calibrate the neutral readings of all attitude sensors |
||
594 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
595 | { |
||
911 | killagreg | 596 | // gas/yaw joystick is top left |
886 | killagreg | 597 | // _________ |
598 | // |x | |
||
599 | // | | |
||
600 | // | | |
||
601 | // | | |
||
602 | // | | |
||
603 | // ¯¯¯¯¯¯¯¯¯ |
||
604 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
605 | { |
||
606 | delay_neutral = 0; |
||
607 | GRN_OFF; |
||
608 | Model_Is_Flying = 0; |
||
911 | killagreg | 609 | // check roll/nick stick position |
610 | // if nick stick is top or roll stick is left or right --> change parameter setting |
||
611 | // according to roll/nick stick position |
||
612 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
||
886 | killagreg | 613 | { |
614 | uint8_t setting = 1; // default |
||
911 | killagreg | 615 | // nick/roll joystick |
886 | killagreg | 616 | // _________ |
617 | // |2 3 4| |
||
618 | // | | |
||
619 | // |1 5| |
||
620 | // | | |
||
621 | // | | |
||
622 | // ¯¯¯¯¯¯¯¯¯ |
||
911 | killagreg | 623 | // roll stick leftmost and nick stick centered --> setting 1 |
624 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
||
625 | // roll stick leftmost and nick stick topmost --> setting 2 |
||
626 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
||
627 | // roll stick centered an nick stick topmost --> setting 3 |
||
628 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
||
629 | // roll stick rightmost and nick stick topmost --> setting 4 |
||
630 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
||
631 | // roll stick rightmost and nick stick centered --> setting 5 |
||
632 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
||
886 | killagreg | 633 | // update active parameter set in eeprom |
634 | SetActiveParamSet(setting); |
||
635 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
636 | SetNeutral(); |
||
637 | Beep(GetActiveParamSet()); |
||
638 | } |
||
639 | else |
||
640 | { |
||
953 | killagreg | 641 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
886 | killagreg | 642 | { |
911 | killagreg | 643 | // if roll stick is centered and nick stick is down |
1078 | killagreg | 644 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 30 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
886 | killagreg | 645 | { |
911 | killagreg | 646 | // nick/roll joystick |
886 | killagreg | 647 | // _________ |
648 | // | | |
||
649 | // | | |
||
650 | // | | |
||
651 | // | | |
||
652 | // | x | |
||
653 | // ¯¯¯¯¯¯¯¯¯ |
||
654 | // enable calibration state of compass |
||
655 | CompassCalState = 1; |
||
656 | BeepTime = 1000; |
||
657 | } |
||
911 | killagreg | 658 | else // nick and roll are centered |
886 | killagreg | 659 | { |
660 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
661 | SetNeutral(); |
||
662 | Beep(GetActiveParamSet()); |
||
663 | } |
||
664 | } |
||
911 | killagreg | 665 | else // nick and roll are centered |
886 | killagreg | 666 | { |
667 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
668 | SetNeutral(); |
||
669 | Beep(GetActiveParamSet()); |
||
670 | } |
||
671 | } |
||
672 | } |
||
673 | } |
||
674 | // and if the yaw stick is in the rightmost position |
||
675 | // save the ACC neutral setting to eeprom |
||
676 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
677 | { |
||
678 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
679 | { |
||
680 | delay_neutral = 0; |
||
681 | GRN_OFF; |
||
911 | killagreg | 682 | SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid |
886 | killagreg | 683 | Model_Is_Flying = 0; |
684 | SetNeutral(); |
||
685 | // Save ACC neutral settings to eeprom |
||
911 | killagreg | 686 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
886 | killagreg | 687 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
688 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
||
689 | Beep(GetActiveParamSet()); |
||
690 | } |
||
691 | } |
||
692 | else delay_neutral = 0; |
||
693 | } |
||
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 695 | // gas stick is down |
886 | killagreg | 696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 697 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
886 | killagreg | 698 | { |
699 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
700 | // and yaw stick is rightmost --> start motors |
||
701 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
702 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
||
703 | { |
||
704 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
705 | { |
||
706 | delay_startmotors = 200; // do not repeat if once executed |
||
707 | Model_Is_Flying = 1; |
||
936 | killagreg | 708 | MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
886 | killagreg | 709 | SetPointYaw = 0; |
710 | Reading_IntegralGyroYaw = 0; |
||
911 | killagreg | 711 | Reading_IntegralGyroNick = 0; |
886 | killagreg | 712 | Reading_IntegralGyroRoll = 0; |
911 | killagreg | 713 | Reading_IntegralGyroNick2 = IntegralNick; |
886 | killagreg | 714 | Reading_IntegralGyroRoll2 = IntegralRoll; |
911 | killagreg | 715 | SumNick = 0; |
886 | killagreg | 716 | SumRoll = 0; |
717 | } |
||
718 | } |
||
719 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
||
720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
721 | // and yaw stick is leftmost --> stop motors |
||
722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
723 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
||
724 | { |
||
725 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
||
726 | { |
||
727 | delay_stopmotors = 200; // do not repeat if once executed |
||
728 | Model_Is_Flying = 0; |
||
936 | killagreg | 729 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
886 | killagreg | 730 | } |
731 | } |
||
732 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
||
733 | } |
||
734 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
||
735 | } // eof RC_Quality > 150 |
||
736 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
737 | // new values from RC |
||
738 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
936 | killagreg | 739 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
886 | killagreg | 740 | { |
741 | ParameterMapping(); // remapping params (online poti replacement) |
||
742 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
||
911 | killagreg | 743 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
744 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
||
745 | StickNick -= (GPS_Nick); |
||
723 | hbuss | 746 | |
886 | killagreg | 747 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
748 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
749 | StickRoll -= (GPS_Roll); |
||
595 | hbuss | 750 | |
911 | killagreg | 751 | // direct mapping of yaw and gas |
886 | killagreg | 752 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
911 | killagreg | 753 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
1 | ingob | 754 | |
886 | killagreg | 755 | // update gyro control loop factors |
756 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
||
757 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
||
758 | |||
492 | hbuss | 759 | |
595 | hbuss | 760 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 761 | //+ Analog control via serial communication |
595 | hbuss | 762 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 763 | |
936 | killagreg | 764 | if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
886 | killagreg | 765 | { |
911 | killagreg | 766 | StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.Stick_P; |
886 | killagreg | 767 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
768 | StickYaw += ExternControl.Yaw; |
||
769 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
||
911 | killagreg | 770 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
886 | killagreg | 771 | } |
911 | killagreg | 772 | if(StickGas < 0) StickGas = 0; |
723 | hbuss | 773 | |
886 | killagreg | 774 | // disable I part of gyro control feedback |
775 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
||
776 | // avoid negative scaling factors |
||
777 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
||
778 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
||
723 | hbuss | 779 | |
886 | killagreg | 780 | |
911 | killagreg | 781 | // update max stick positions for nick and roll |
886 | killagreg | 782 | |
936 | killagreg | 783 | if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
784 | { |
||
785 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
786 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
787 | } |
||
911 | killagreg | 788 | else MaxStickNick--; |
936 | killagreg | 789 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
790 | { |
||
791 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
792 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
793 | } |
||
886 | killagreg | 794 | else MaxStickRoll--; |
795 | |||
796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
173 | holgerb | 797 | // Looping? |
886 | killagreg | 798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 799 | |
1078 | killagreg | 800 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
886 | killagreg | 801 | else |
802 | { |
||
803 | if(Looping_Left) // Hysteresis |
||
804 | { |
||
805 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
||
806 | } |
||
807 | } |
||
1078 | killagreg | 808 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
886 | killagreg | 809 | else |
810 | { |
||
811 | if(Looping_Right) // Hysteresis |
||
812 | { |
||
813 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
||
814 | } |
||
815 | } |
||
395 | hbuss | 816 | |
1078 | killagreg | 817 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_UP) Looping_Top = 1; |
886 | killagreg | 818 | else |
819 | { |
||
820 | if(Looping_Top) // Hysteresis |
||
821 | { |
||
911 | killagreg | 822 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
886 | killagreg | 823 | } |
824 | } |
||
1078 | killagreg | 825 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
886 | killagreg | 826 | else |
827 | { |
||
828 | if(Looping_Down) // Hysteresis |
||
829 | { |
||
911 | killagreg | 830 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
886 | killagreg | 831 | } |
832 | } |
||
395 | hbuss | 833 | |
886 | killagreg | 834 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
911 | killagreg | 835 | if(Looping_Top || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0; |
886 | killagreg | 836 | } // End of new RC-Values or Emergency Landing |
173 | holgerb | 837 | |
395 | hbuss | 838 | |
911 | killagreg | 839 | if(Looping_Roll || Looping_Nick) |
886 | killagreg | 840 | { |
911 | killagreg | 841 | if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
886 | killagreg | 842 | } |
395 | hbuss | 843 | |
886 | killagreg | 844 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
845 | // in case of emergency landing |
||
846 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
847 | // set all inputs to save values |
||
936 | killagreg | 848 | if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
886 | killagreg | 849 | { |
850 | StickYaw = 0; |
||
911 | killagreg | 851 | StickNick = 0; |
886 | killagreg | 852 | StickRoll = 0; |
853 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
||
854 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
||
855 | Looping_Roll = 0; |
||
911 | killagreg | 856 | Looping_Nick = 0; |
857 | MaxStickNick = 0; |
||
886 | killagreg | 858 | MaxStickRoll = 0; |
859 | } |
||
395 | hbuss | 860 | |
886 | killagreg | 861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
862 | // Trim Gyro-Integrals to ACC-Signals |
||
863 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
614 | hbuss | 864 | |
886 | killagreg | 865 | #define BALANCE_NUMBER 256L |
866 | // sum for averaging |
||
911 | killagreg | 867 | MeanIntegralNick += IntegralNick; |
886 | killagreg | 868 | MeanIntegralRoll += IntegralRoll; |
614 | hbuss | 869 | |
911 | killagreg | 870 | if(Looping_Nick || Looping_Roll) // if looping in any direction |
886 | killagreg | 871 | { |
872 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
||
873 | MeasurementCounter = 0; |
||
469 | hbuss | 874 | |
911 | killagreg | 875 | IntegralAccNick = 0; |
886 | killagreg | 876 | IntegralAccRoll = 0; |
614 | hbuss | 877 | |
911 | killagreg | 878 | MeanIntegralNick = 0; |
886 | killagreg | 879 | MeanIntegralRoll = 0; |
395 | hbuss | 880 | |
911 | killagreg | 881 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
886 | killagreg | 882 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
498 | hbuss | 883 | |
911 | killagreg | 884 | AttitudeCorrectionNick = 0; |
886 | killagreg | 885 | AttitudeCorrectionRoll = 0; |
886 | } |
||
395 | hbuss | 887 | |
886 | killagreg | 888 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 889 | if(!Looping_Nick && !Looping_Roll) // if not lopping in any direction |
886 | killagreg | 890 | { |
891 | int32_t tmp_long, tmp_long2; |
||
1078 | killagreg | 892 | if(FromNaviCtrl_Value.Kalman_K != -1) |
893 | { |
||
894 | // determine the deviation of gyro integral from averaged acceleration sensor |
||
895 | tmp_long = (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick); |
||
896 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
897 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
||
898 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
395 | hbuss | 899 | |
1078 | killagreg | 900 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
901 | { |
||
902 | tmp_long /= 2; |
||
903 | tmp_long2 /= 2; |
||
904 | } |
||
905 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
||
906 | { |
||
907 | tmp_long /= 3; |
||
908 | tmp_long2 /= 3; |
||
909 | } |
||
910 | // limit correction effect |
||
911 | if(tmp_long > (int32_t)FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (int32_t)FromNaviCtrl_Value.Kalman_MaxFusion; |
||
912 | if(tmp_long < -(int32_t)FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long =-(int32_t)FromNaviCtrl_Value.Kalman_MaxFusion; |
||
913 | if(tmp_long2 > (int32_t)FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (int32_t)FromNaviCtrl_Value.Kalman_MaxFusion; |
||
914 | if(tmp_long2 <-(int32_t)FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 =-(int32_t)FromNaviCtrl_Value.Kalman_MaxFusion; |
||
886 | killagreg | 915 | } |
1078 | killagreg | 916 | else |
886 | killagreg | 917 | { |
1078 | killagreg | 918 | // determine the deviation of gyro integral from averaged acceleration sensor |
919 | tmp_long = (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick); |
||
920 | tmp_long /= 16; |
||
921 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
||
922 | tmp_long2 /= 16; |
||
923 | |||
924 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
||
925 | { |
||
926 | tmp_long /= 3; |
||
927 | tmp_long2 /= 3; |
||
928 | } |
||
929 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
||
930 | { |
||
931 | tmp_long /= 3; |
||
932 | tmp_long2 /= 3; |
||
933 | } |
||
934 | |||
935 | #define BALANCE 32 |
||
936 | // limit correction effect |
||
937 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
||
938 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
||
939 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
||
940 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
||
886 | killagreg | 941 | } |
942 | // correct current readings |
||
911 | killagreg | 943 | Reading_IntegralGyroNick -= tmp_long; |
886 | killagreg | 944 | Reading_IntegralGyroRoll -= tmp_long2; |
945 | } |
||
946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
947 | // MeasurementCounter is incremented in the isr of analog.c |
||
948 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
||
949 | { |
||
950 | static int16_t cnt = 0; |
||
951 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
||
911 | killagreg | 952 | static int32_t MeanIntegralNick_old, MeanIntegralRoll_old; |
720 | ingob | 953 | |
886 | killagreg | 954 | // if not lopping in any direction (this should be alwais the case, |
955 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
||
911 | killagreg | 956 | if(!Looping_Nick && !Looping_Roll && !FunnelCourse) |
886 | killagreg | 957 | { |
958 | // Calculate mean value of the gyro integrals |
||
911 | killagreg | 959 | MeanIntegralNick /= BALANCE_NUMBER; |
886 | killagreg | 960 | MeanIntegralRoll /= BALANCE_NUMBER; |
720 | ingob | 961 | |
886 | killagreg | 962 | // Calculate mean of the acceleration values |
911 | killagreg | 963 | IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER; |
886 | killagreg | 964 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
720 | ingob | 965 | |
911 | killagreg | 966 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | killagreg | 967 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
911 | killagreg | 968 | IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick); |
969 | CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim; |
||
970 | AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
||
886 | killagreg | 971 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
||
973 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
||
974 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
||
975 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
||
976 | |||
1078 | killagreg | 977 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
886 | killagreg | 978 | { |
911 | killagreg | 979 | AttitudeCorrectionNick /= 2; |
886 | killagreg | 980 | AttitudeCorrectionRoll /= 2; |
981 | } |
||
982 | |||
983 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
984 | // Gyro-Drift ermitteln |
||
985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 986 | // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
987 | IntegralErrorNick = IntegralNick2 - IntegralNick; |
||
988 | Reading_IntegralGyroNick2 -= IntegralErrorNick; |
||
989 | // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
||
886 | killagreg | 990 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
991 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
||
992 | |||
993 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
||
994 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
||
995 | YawGyroDrift = 0; |
||
996 | |||
997 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
||
998 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
||
999 | #define MOVEMENT_LIMIT 20000 |
||
911 | killagreg | 1000 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1001 | cnt = 1;// + labs(IntegralErrorNick) / 4096; |
||
1002 | CorrectionNick = 0; |
||
1078 | killagreg | 1003 | if((labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT) || (FromNaviCtrl_Value.Kalman_MaxDrift > 3* 16)) |
886 | killagreg | 1004 | { |
911 | killagreg | 1005 | if(IntegralErrorNick > ERROR_LIMIT2) |
886 | killagreg | 1006 | { |
1007 | if(last_n_p) |
||
1008 | { |
||
911 | killagreg | 1009 | cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
1010 | CorrectionNick = IntegralErrorNick / 8; |
||
1011 | if(CorrectionNick > 5000) CorrectionNick = 5000; |
||
1012 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
||
886 | killagreg | 1013 | } |
1014 | else last_n_p = 1; |
||
1015 | } |
||
1016 | else last_n_p = 0; |
||
911 | killagreg | 1017 | if(IntegralErrorNick < -ERROR_LIMIT2) |
886 | killagreg | 1018 | { |
1019 | if(last_n_n) |
||
1020 | { |
||
911 | killagreg | 1021 | cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
1022 | CorrectionNick = IntegralErrorNick / 8; |
||
1023 | if(CorrectionNick < -5000) CorrectionNick = -5000; |
||
1024 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
||
886 | killagreg | 1025 | } |
1026 | else last_n_n = 1; |
||
1027 | } |
||
1028 | else last_n_n = 0; |
||
1029 | } |
||
1030 | else |
||
1031 | { |
||
1032 | cnt = 0; |
||
936 | killagreg | 1033 | BadCompassHeading = 1000; |
886 | killagreg | 1034 | } |
1035 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
1078 | killagreg | 1036 | if(cnt * 16 > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift / 16; |
886 | killagreg | 1037 | // correct Gyro Offsets |
911 | killagreg | 1038 | if(IntegralErrorNick > ERROR_LIMIT) AdNeutralNick += cnt; |
1039 | if(IntegralErrorNick < -ERROR_LIMIT) AdNeutralNick -= cnt; |
||
886 | killagreg | 1040 | |
1041 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 1042 | cnt = 1;// + labs(IntegralErrorNick) / 4096; |
886 | killagreg | 1043 | CorrectionRoll = 0; |
1078 | killagreg | 1044 | if((labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) || (FromNaviCtrl_Value.Kalman_MaxDrift > 3* 16)) |
886 | killagreg | 1045 | { |
1046 | if(IntegralErrorRoll > ERROR_LIMIT2) |
||
1047 | { |
||
1048 | if(last_r_p) |
||
1049 | { |
||
1050 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
||
1051 | CorrectionRoll = IntegralErrorRoll / 8; |
||
1052 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
||
1053 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
1054 | } |
||
1055 | else last_r_p = 1; |
||
1056 | } |
||
1057 | else last_r_p = 0; |
||
1058 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
||
1059 | { |
||
1060 | if(last_r_n) |
||
1061 | { |
||
1062 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
||
1063 | CorrectionRoll = IntegralErrorRoll / 8; |
||
1064 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
||
1065 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
||
1066 | } |
||
1067 | else last_r_n = 1; |
||
1068 | } |
||
1069 | else last_r_n = 0; |
||
1070 | } |
||
1071 | else |
||
1072 | { |
||
1073 | cnt = 0; |
||
936 | killagreg | 1074 | BadCompassHeading = 1000; |
886 | killagreg | 1075 | } |
1076 | // correct Gyro Offsets |
||
1077 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
||
1078 | killagreg | 1078 | if(cnt * 16 > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift / 16; |
886 | killagreg | 1079 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
1080 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
||
1078 | killagreg | 1081 | |
886 | killagreg | 1082 | } |
1083 | else // looping is active |
||
1084 | { |
||
1085 | AttitudeCorrectionRoll = 0; |
||
911 | killagreg | 1086 | AttitudeCorrectionNick = 0; |
886 | killagreg | 1087 | FunnelCourse = 0; |
1088 | } |
||
395 | hbuss | 1089 | |
886 | killagreg | 1090 | // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
1091 | if(!Gyro_I_Factor) |
||
1092 | { |
||
1093 | AttitudeCorrectionRoll = 0; |
||
911 | killagreg | 1094 | AttitudeCorrectionNick = 0; |
886 | killagreg | 1095 | } |
1096 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 1097 | MeanIntegralNick_old = MeanIntegralNick; |
886 | killagreg | 1098 | MeanIntegralRoll_old = MeanIntegralRoll; |
1099 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1100 | // reset variables used for averaging |
||
911 | killagreg | 1101 | IntegralAccNick = 0; |
886 | killagreg | 1102 | IntegralAccRoll = 0; |
911 | killagreg | 1103 | MeanIntegralNick = 0; |
886 | killagreg | 1104 | MeanIntegralRoll = 0; |
1105 | MeasurementCounter = 0; |
||
1106 | } // end of averaging |
||
401 | hbuss | 1107 | |
492 | hbuss | 1108 | |
886 | killagreg | 1109 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1110 | // Yawing |
||
1111 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1112 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
||
1113 | { |
||
936 | killagreg | 1114 | BadCompassHeading = 1000; |
886 | killagreg | 1115 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1116 | { |
||
1117 | UpdateCompassCourse = 1; |
||
1118 | } |
||
1119 | } |
||
1120 | // exponential stick sensitivity in yawring rate |
||
1121 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
||
1122 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
||
1123 | SetPointYaw = tmp_int; |
||
1124 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
||
1125 | Reading_IntegralGyroYaw -= tmp_int; |
||
1126 | // limit the effect |
||
1127 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
||
1128 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
||
614 | hbuss | 1129 | |
886 | killagreg | 1130 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1131 | // Compass |
||
1132 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1133 | // compass code is used if Compass option is selected |
||
953 | killagreg | 1134 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
886 | killagreg | 1135 | { |
1136 | int16_t w, v, r,correction, error; |
||
395 | hbuss | 1137 | |
936 | killagreg | 1138 | if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
886 | killagreg | 1139 | { |
1140 | SetCompassCalState(); |
||
1141 | #ifdef USE_KILLAGREG |
||
1142 | MM3_Calibrate(); |
||
1143 | #endif |
||
1144 | } |
||
1145 | else |
||
1146 | { |
||
1147 | #ifdef USE_KILLAGREG |
||
1148 | static uint8_t updCompass = 0; |
||
1149 | if (!updCompass--) |
||
1150 | { |
||
1151 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
||
1152 | MM3_Heading(); |
||
1153 | } |
||
1154 | #endif |
||
819 | hbuss | 1155 | |
886 | killagreg | 1156 | // get maximum attitude angle |
936 | killagreg | 1157 | w = abs(IntegralNick / 512); |
1158 | v = abs(IntegralRoll / 512); |
||
886 | killagreg | 1159 | if(v > w) w = v; |
936 | killagreg | 1160 | correction = w / 8 + 1; |
886 | killagreg | 1161 | // calculate the deviation of the yaw gyro heading and the compass heading |
1162 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
||
1163 | else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
||
1078 | killagreg | 1164 | if(UpdateCompassCourse) |
1165 | { |
||
1166 | error = 0; |
||
1167 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
||
1168 | } |
||
936 | killagreg | 1169 | if(!BadCompassHeading && w < 25) |
1170 | { |
||
1171 | YawGyroDrift += error; |
||
1172 | if(UpdateCompassCourse) |
||
1173 | { |
||
1174 | BeepTime = 200; |
||
1175 | CompassCourse = (YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
||
1176 | UpdateCompassCourse = 0; |
||
1177 | } |
||
1178 | } |
||
886 | killagreg | 1179 | YawGyroHeading += (error * 8) / correction; |
936 | killagreg | 1180 | w = (w * FCParam.CompassYawEffect) / 32; |
886 | killagreg | 1181 | w = FCParam.CompassYawEffect - w; |
936 | killagreg | 1182 | if(w >= 0) |
886 | killagreg | 1183 | { |
936 | killagreg | 1184 | if(!BadCompassHeading) |
1185 | { |
||
911 | killagreg | 1186 | v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
886 | killagreg | 1187 | // calc course deviation |
1188 | r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
||
1189 | v = (r * w) / v; // align to compass course |
||
1190 | // limit yaw rate |
||
1191 | w = 3 * FCParam.CompassYawEffect; |
||
1192 | if (v > w) v = w; |
||
1193 | else if (v < -w) v = -w; |
||
1194 | Reading_IntegralGyroYaw += v; |
||
1195 | } |
||
936 | killagreg | 1196 | else |
1197 | { // wait a while |
||
1198 | BadCompassHeading--; |
||
1199 | } |
||
886 | killagreg | 1200 | } |
1201 | else |
||
1202 | { // ignore compass at extreme attitudes for a while |
||
936 | killagreg | 1203 | BadCompassHeading = 500; |
886 | killagreg | 1204 | } |
1205 | } |
||
1206 | } |
||
1 | ingob | 1207 | |
953 | killagreg | 1208 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
886 | killagreg | 1209 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | // GPS |
||
1211 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1212 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
||
1213 | { |
||
936 | killagreg | 1214 | GPS_Main(); |
1215 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
||
886 | killagreg | 1216 | } |
1217 | else |
||
1218 | { |
||
911 | killagreg | 1219 | GPS_Nick = 0; |
886 | killagreg | 1220 | GPS_Roll = 0; |
1221 | } |
||
1222 | #endif |
||
1223 | |||
1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1225 | // Debugwerte zuordnen |
886 | killagreg | 1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1227 | if(!TimerDebugOut--) |
||
1228 | { |
||
1229 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
||
911 | killagreg | 1230 | DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFactor; |
886 | killagreg | 1231 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
911 | killagreg | 1232 | DebugOut.Analog[2] = Mean_AccNick; |
886 | killagreg | 1233 | DebugOut.Analog[3] = Mean_AccRoll; |
1234 | DebugOut.Analog[4] = Reading_GyroYaw; |
||
1235 | DebugOut.Analog[5] = ReadingHeight; |
||
1236 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
||
1237 | DebugOut.Analog[8] = CompassHeading; |
||
1238 | DebugOut.Analog[9] = UBat; |
||
1239 | DebugOut.Analog[10] = RC_Quality; |
||
1240 | DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
||
936 | killagreg | 1241 | //DebugOut.Analog[16] = Mean_AccTop; |
1078 | killagreg | 1242 | DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
1243 | DebugOut.Analog[18] = FromNaviCtrl_Value.OsdBar; |
||
886 | killagreg | 1244 | DebugOut.Analog[20] = ServoValue; |
1078 | killagreg | 1245 | DebugOut.Analog[27] = (int16_t)FromNaviCtrl_Value.Kalman_MaxDrift; |
1246 | DebugOut.Analog[29] = (int16_t)FromNaviCtrl_Value.Kalman_K; |
||
911 | killagreg | 1247 | DebugOut.Analog[30] = GPS_Nick; |
886 | killagreg | 1248 | DebugOut.Analog[31] = GPS_Roll; |
805 | hbuss | 1249 | |
886 | killagreg | 1250 | } |
604 | hbuss | 1251 | |
886 | killagreg | 1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1253 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
||
1254 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1255 | |
911 | killagreg | 1256 | if(Looping_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor; |
1257 | else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * Gyro_P_Factor; |
||
886 | killagreg | 1258 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1259 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
||
1260 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
||
854 | hbuss | 1261 | |
911 | killagreg | 1262 | DebugOut.Analog[21] = Reading_GyroNick; |
886 | killagreg | 1263 | DebugOut.Analog[22] = Reading_GyroRoll; |
1 | ingob | 1264 | |
886 | killagreg | 1265 | // limit control feedback |
1266 | #define MAX_SENSOR (4096 * STICK_GAIN) |
||
911 | killagreg | 1267 | if(Reading_GyroNick > MAX_SENSOR) Reading_GyroNick = MAX_SENSOR; |
1268 | if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -MAX_SENSOR; |
||
1269 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
||
1270 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
||
1271 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
||
1272 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
||
855 | hbuss | 1273 | |
886 | killagreg | 1274 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1275 | // Height Control |
||
911 | killagreg | 1276 | // The height control algorithm reduces the gas but does not increase the gas. |
886 | killagreg | 1277 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1278 | |
911 | killagreg | 1279 | GasMixFraction *= STICK_GAIN; |
513 | hbuss | 1280 | |
1078 | killagreg | 1281 | // if height control is activated and no emergency landing is active |
936 | killagreg | 1282 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
886 | killagreg | 1283 | { |
1284 | int tmp_int; |
||
1078 | killagreg | 1285 | static uint8_t delay = 100; |
886 | killagreg | 1286 | // if height control is activated by an rc channel |
1287 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
||
1288 | { // check if parameter is less than activation threshold |
||
1078 | killagreg | 1289 | if( |
1290 | ( (ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && ( (FCParam.MaxHeight > 80) && (FCParam.MaxHeight < 140) ) )|| // for 3-state switch height control is only disabled in center position |
||
1291 | (!(ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && (FCParam.MaxHeight < 50) ) // for 2-State switch height control is disabled in lower position |
||
1292 | ) |
||
1293 | { //hight control not active |
||
1294 | if(!delay--) |
||
1295 | { |
||
1296 | // measurement of air pressure close to upper limit |
||
1297 | if(ReadingAirPressure > 1000) |
||
1298 | { // lower offset |
||
1299 | ExpandBaro -= 10; |
||
1300 | OCR0A = PressureSensorOffset - ExpandBaro; |
||
1301 | BeepTime = 300; |
||
1302 | delay = 250; |
||
1303 | } |
||
1304 | // measurement of air pressure close to lower limit |
||
1305 | else if(ReadingAirPressure < 100) |
||
1306 | { // increase offset |
||
1307 | ExpandBaro += 10; |
||
1308 | OCR0A = PressureSensorOffset - ExpandBaro; |
||
1309 | BeepTime = 300; |
||
1310 | delay = 250; |
||
1311 | } |
||
1312 | else |
||
1313 | { |
||
1314 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
||
1315 | HeightControlActive = 0; // disable height control |
||
1316 | delay = 1; |
||
1317 | } |
||
1318 | } |
||
886 | killagreg | 1319 | } |
1078 | killagreg | 1320 | else |
1321 | { //hight control not active |
||
1322 | HeightControlActive = 1; // enable height control |
||
1323 | delay = 200; |
||
1324 | } |
||
886 | killagreg | 1325 | } |
1326 | else // no switchable height control |
||
1327 | { |
||
1328 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
||
1329 | HeightControlActive = 1; |
||
1330 | } |
||
1331 | // get current height |
||
1332 | h = ReadingHeight; |
||
911 | killagreg | 1333 | // if current height is above the setpoint reduce gas |
886 | killagreg | 1334 | if((h > SetPointHeight) && HeightControlActive) |
1335 | { |
||
911 | killagreg | 1336 | // GasMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
886 | killagreg | 1337 | // height difference -> P control part |
1338 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
||
911 | killagreg | 1339 | h = GasMixFraction - h; // reduce gas |
886 | killagreg | 1340 | // height gradient --> D control part |
1341 | //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
||
1342 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
||
1343 | // acceleration sensor effect |
||
1344 | tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
||
1345 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
||
1346 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
||
1347 | h -= tmp_int; |
||
911 | killagreg | 1348 | // update height control gas |
1349 | HeightControlGas = (HeightControlGas*15 + h) / 16; |
||
1350 | // limit gas reduction |
||
1351 | if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN) |
||
886 | killagreg | 1352 | { |
911 | killagreg | 1353 | if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN; |
1354 | // allows landing also if gas stick is reduced below min gas on height control |
||
1355 | if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
||
886 | killagreg | 1356 | } |
911 | killagreg | 1357 | // limit gas to stick setting |
1358 | if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
||
1359 | GasMixFraction = HeightControlGas; |
||
886 | killagreg | 1360 | } |
1361 | } |
||
911 | killagreg | 1362 | // limit gas to parameter setting |
1363 | if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN; |
||
886 | killagreg | 1364 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1365 | // + Mixer and PI-Controller |
||
1366 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
911 | killagreg | 1367 | DebugOut.Analog[7] = GasMixFraction; |
886 | killagreg | 1368 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1369 | // Yaw-Fraction |
||
1370 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1371 | YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
||
911 | killagreg | 1372 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
886 | killagreg | 1373 | // limit YawMixFraction |
911 | killagreg | 1374 | if(GasMixFraction > MIN_YAWGAS) |
886 | killagreg | 1375 | { |
911 | killagreg | 1376 | if(YawMixFraction > (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2; |
1377 | if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2); |
||
886 | killagreg | 1378 | } |
1379 | else |
||
1380 | { |
||
911 | killagreg | 1381 | if(YawMixFraction > (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2; |
1382 | if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2); |
||
886 | killagreg | 1383 | } |
911 | killagreg | 1384 | tmp_int = ParamSet.Gas_Max * STICK_GAIN; |
1385 | if(YawMixFraction > ((tmp_int - GasMixFraction))) YawMixFraction = ((tmp_int - GasMixFraction)); |
||
1386 | if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction)); |
||
173 | holgerb | 1387 | |
886 | killagreg | 1388 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 1389 | // Nick-Axis |
886 | killagreg | 1390 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | killagreg | 1391 | DiffNick = Reading_GyroNick - StickNick; // get difference |
1392 | if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control |
||
1393 | else SumNick += DiffNick; // I-part for head holding |
||
1394 | if(SumNick > (STICK_GAIN * 16000L)) SumNick = (STICK_GAIN * 16000L); |
||
1395 | if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L); |
||
1396 | pd_result = DiffNick + Ki * SumNick; // PI-controller for nick |
||
886 | killagreg | 1397 | |
911 | killagreg | 1398 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
886 | killagreg | 1399 | if(pd_result > tmp_int) pd_result = tmp_int; |
1400 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
1401 | |||
1402 | // Motor Front |
||
911 | killagreg | 1403 | MotorValue = GasMixFraction + pd_result + YawMixFraction; // Mixer |
886 | killagreg | 1404 | MotorValue /= STICK_GAIN; |
1405 | if ((MotorValue < 0)) MotorValue = 0; |
||
936 | killagreg | 1406 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
911 | killagreg | 1407 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
886 | killagreg | 1408 | Motor_Front = MotorValue; |
1409 | |||
1410 | // Motor Rear |
||
911 | killagreg | 1411 | MotorValue = GasMixFraction - pd_result + YawMixFraction; // Mixer |
886 | killagreg | 1412 | MotorValue /= STICK_GAIN; |
1413 | if ((MotorValue < 0)) MotorValue = 0; |
||
911 | killagreg | 1414 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
936 | killagreg | 1415 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
886 | killagreg | 1416 | Motor_Rear = MotorValue; |
1417 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1418 | // Roll-Axis |
||
1419 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1420 | DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
||
1421 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
||
1422 | else SumRoll += DiffRoll; // I-part for head holding |
||
901 | killagreg | 1423 | if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
1424 | if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
||
886 | killagreg | 1425 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
911 | killagreg | 1426 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
886 | killagreg | 1427 | if(pd_result > tmp_int) pd_result = tmp_int; |
1428 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
||
1429 | |||
1430 | // Motor Left |
||
911 | killagreg | 1431 | MotorValue = GasMixFraction + pd_result - YawMixFraction; // Mixer |
886 | killagreg | 1432 | MotorValue /= STICK_GAIN; |
1433 | if ((MotorValue < 0)) MotorValue = 0; |
||
911 | killagreg | 1434 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
936 | killagreg | 1435 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
886 | killagreg | 1436 | Motor_Left = MotorValue; |
1437 | |||
1438 | // Motor Right |
||
911 | killagreg | 1439 | MotorValue = GasMixFraction - pd_result - YawMixFraction; // Mixer |
886 | killagreg | 1440 | MotorValue /= STICK_GAIN; |
1441 | if ((MotorValue < 0)) MotorValue = 0; |
||
911 | killagreg | 1442 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
936 | killagreg | 1443 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
886 | killagreg | 1444 | Motor_Right = MotorValue; |
1 | ingob | 1445 | } |
1446 |