Rev 1467 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1465 | acid | 1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // Servo Mixer |
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| 3 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | #if 0 |
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| 5 | { |
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| 6 | |||
| 7 | |||
| 8 | |||
| 9 | |||
| 10 | } |
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| 11 | #else |
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| 12 | |||
| 13 | { |
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| 14 | int16_t nick, roll, tmp, pitch, throttle; |
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| 15 | int16_t servo[6]; |
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| 16 | |||
| 17 | // throttle |
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| 18 | throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + HELI_THROTTLE_DEADBAND; |
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| 19 | if (throttle < 5) throttle = 0; |
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| 20 | |||
| 21 | tmp = throttle / HELI_THROTTLE_SENSITIVITY; |
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| 22 | if (tmp > HELI_MAX_THROTTLE * 2) tmp = HELI_MAX_THROTTLE * 2; |
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| 23 | DebugOut.Analog[7] = tmp; |
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| 24 | if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) { |
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| 25 | tmp = 0; |
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| 26 | } |
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| 27 | servo[4] = tmp; |
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| 28 | |||
| 29 | // pitch |
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| 30 | pitch = throttle / HELI_PITCH_SENSITIVITY + HELI_PITCH_BASE; |
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| 31 | if (pitch > HELI_MAX_PITCH) pitch = HELI_MAX_PITCH; |
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| 32 | |||
| 33 | servo[0] = 127 - pitch; |
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| 34 | servo[1] = 127 + pitch; |
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| 35 | servo[2] = 127 + pitch; |
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| 36 | |||
| 37 | |||
| 38 | nick = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 39 | roll = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 40 | |||
| 41 | // nick |
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| 42 | nick /= HELI_NICK_GYRO_SENSITIVITY; |
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| 43 | nick -= PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] / HELI_NICK_SENSITIVITY; |
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| 44 | servo[0] -= nick; |
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| 45 | servo[1] += nick; |
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| 46 | servo[2] -= nick; |
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| 47 | |||
| 48 | // roll |
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| 49 | roll /= HELI_ROLL_GYRO_SENSITIVITY; |
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| 50 | roll -= PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] / HELI_ROLL_SENSITIVITY; |
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| 51 | servo[0] += roll; |
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| 52 | servo[1] += roll; |
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| 53 | |||
| 54 | // yaw |
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| 55 | tmp = MesswertGier / HELI_YAW_GYRO_SENSITIVITY; |
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| 56 | servo[3] = 127 + HELI_YAW_BASE + tmp + (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] * 4 / HELI_YAW_SENSITIVITY); |
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| 57 | |||
| 58 | // not used |
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| 59 | servo[5] = 127; |
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| 60 | |||
| 61 | for(tmp = 0; tmp < 6; tmp++) { |
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| 62 | int t; |
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| 63 | t = servo[tmp] + Mixer.Motor[tmp][3]; |
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| 64 | if (t < 0) t = 0; |
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| 65 | else if (t > 255) t = 255; |
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| 66 | servoValues[tmp] = t; |
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| 67 | } |
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| 68 | |||
| 69 | DebugOut.Analog[12] = servo[0]; |
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| 70 | DebugOut.Analog[13] = servo[1]; |
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| 71 | DebugOut.Analog[14] = servo[2]; |
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| 72 | DebugOut.Analog[15] = servo[3]; |
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| 73 | DebugOut.Analog[6] = pitch; |
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| 74 | |||
| 75 | } |
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| 76 | |||
| 77 | |||
| 78 | #endif |