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1910 | - | 1 | #include <stdlib.h> |
2 | #include "controlMixer.h" |
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3 | #include "rc.h" |
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4 | #include "attitude.h" |
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5 | #include "externalControl.h" |
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6 | #include "configuration.h" |
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7 | #include "attitude.h" |
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8 | #include "commands.h" |
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9 | #include "output.h" |
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10 | |||
11 | uint16_t maxControl[2] = {0, 0}; |
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12 | uint16_t controlActivity = 0; |
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13 | int16_t control[4] = {0, 0, 0, 0}; |
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1922 | - | 14 | // int32_t controlIntegrals[4] = {0, 0, 0, 0}; |
1910 | - | 15 | |
16 | // Internal variables for reading commands made with an R/C stick. |
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17 | uint8_t lastCommand = COMMAND_NONE; |
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18 | uint8_t lastArgument; |
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19 | |||
20 | uint8_t isCommandRepeated = 0; |
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21 | |||
22 | // MK flags. TODO: Replace by enum. State machine. |
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23 | uint16_t isFlying = 0; |
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24 | volatile uint8_t MKFlags = 0; |
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25 | |||
26 | /* |
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27 | * This could be expanded to take arguments from ohter sources than the RC |
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28 | * (read: Custom MK RC project) |
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29 | */ |
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30 | uint8_t controlMixer_getArgument(void) { |
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31 | return lastArgument; |
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32 | } |
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33 | |||
34 | /* |
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35 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
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36 | * than the R/C (read: Custom MK R/C project) |
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37 | */ |
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38 | uint8_t controlMixer_getCommand(void) { |
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39 | return lastCommand; |
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40 | } |
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41 | |||
42 | uint8_t controlMixer_isCommandRepeated(void) { |
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43 | return isCommandRepeated; |
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44 | } |
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45 | |||
46 | void controlMixer_setNeutral() { |
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47 | //EC_setNeutral(); |
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48 | //HC_setGround(); |
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49 | } |
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50 | |||
51 | /* |
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52 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
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53 | * No slew rate limitation. |
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54 | */ |
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55 | void controlMixer_initVariables(void) { |
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56 | uint8_t i; |
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57 | for (i = 0; i < 8; i++) { |
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58 | variables[i] = RC_getVariable(i); |
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59 | } |
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60 | } |
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61 | |||
62 | /* |
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63 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
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64 | * TODO: It assumes R/C as source. Not necessarily true. |
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65 | */ |
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66 | void controlMixer_updateVariables(void) { |
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67 | uint8_t i; |
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68 | int16_t targetvalue; |
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69 | for (i = 0; i < 8; i++) { |
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70 | targetvalue = RC_getVariable(i); |
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71 | if (targetvalue < 0) |
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72 | targetvalue = 0; |
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73 | if (variables[i] < targetvalue && variables[i] < 255) |
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74 | variables[i]++; |
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75 | else if (variables[i] > 0 && variables[i] > targetvalue) |
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76 | variables[i]--; |
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77 | } |
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78 | } |
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79 | |||
80 | uint8_t controlMixer_getSignalQuality(void) { |
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81 | uint8_t rcQ = RC_getSignalQuality(); |
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82 | uint8_t ecQ = EC_getSignalQuality(); |
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83 | // This needs not be the only correct solution... |
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84 | return rcQ > ecQ ? rcQ : ecQ; |
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85 | } |
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86 | |||
87 | void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
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88 | int16_t tmp = control[index]; |
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89 | |||
90 | // TODO: Scale by some factor. To be determined. |
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1922 | - | 91 | // controlIntegrals[index] += tmp * 4; |
1910 | - | 92 | |
1922 | - | 93 | /* |
1910 | - | 94 | if (controlIntegrals[index] > PITCHROLLOVER180) { |
95 | controlIntegrals[index] -= PITCHROLLOVER360; |
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96 | } else if (controlIntegrals[index] <= -PITCHROLLOVER180) { |
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97 | controlIntegrals[index] += PITCHROLLOVER360; |
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98 | } |
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1926 | - | 99 | */ |
1910 | - | 100 | |
101 | control[index] = newValue; |
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102 | tmp -= newValue; |
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103 | tmp = tmp * tmp; |
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104 | // tmp += (newValue >= 0) ? newValue : -newValue; |
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105 | controlActivity += tmp; |
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106 | } |
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107 | |||
108 | #define CADAMPING 10 |
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109 | void dampenControlActivity(void) { |
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110 | int32_t tmp = controlActivity; |
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111 | tmp *= ((1<<CADAMPING)-1); |
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112 | tmp >>= CADAMPING; |
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113 | controlActivity = tmp; |
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114 | } |
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115 | |||
116 | /* |
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117 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
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118 | */ |
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119 | void controlMixer_update(void) { |
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120 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
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121 | // TODO: If no signal --> zero. |
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122 | uint8_t axis; |
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123 | |||
124 | RC_update(); |
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125 | // EC_update(); |
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126 | // HC_update(); |
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127 | |||
128 | int16_t* RC_EATR = RC_getEATR(); |
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129 | // int16_t* EC_PRTY = EC_getPRTY(); |
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130 | |||
131 | updateControlAndMeasureControlActivity(CONTROL_ELEVATOR, RC_EATR[CONTROL_ELEVATOR] /* + EC_PRTY[CONTROL_PITCH] */); |
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132 | updateControlAndMeasureControlActivity(CONTROL_AILERONS, RC_EATR[CONTROL_AILERONS] /* + EC_PRTY[CONTROL_ROLL] */); |
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133 | updateControlAndMeasureControlActivity(CONTROL_RUDDER, RC_EATR[CONTROL_RUDDER] /* + EC_PRTY[CONTROL_YAW] */); |
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134 | dampenControlActivity(); |
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135 | |||
136 | // Do we also want to have activity measurement on throttle? |
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137 | control[CONTROL_THROTTLE] = RC_EATR[CONTROL_THROTTLE]; // + EC_PRTY[CONTROL_THROTTLE]); |
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138 | |||
139 | if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
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140 | controlMixer_updateVariables(); |
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141 | configuration_staticToDynamic(); |
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142 | } else { // Signal is not OK |
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143 | // Could handle switch to emergency flight here. |
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144 | // throttle is handled elsewhere. |
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145 | } |
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146 | |||
147 | // part1a end. |
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148 | |||
149 | /* This is not really necessary with the dead-band feature on all sticks (see rc.c) |
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150 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
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151 | if (controlYaw > 2) controlYaw-= 2; |
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152 | else if (controlYaw< -2) controlYaw += 2; |
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153 | else controlYaw = 0; |
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154 | } |
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155 | */ |
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156 | |||
157 | /* |
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158 | * Record maxima |
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159 | */ |
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160 | for (axis = PITCH; axis <= ROLL; axis++) { |
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161 | if (abs(control[axis]) > maxControl[axis]) { |
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162 | maxControl[axis] = abs(control[axis]); |
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163 | if (maxControl[axis] > 100) |
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164 | maxControl[axis] = 100; |
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165 | } else if (maxControl[axis]) |
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166 | maxControl[axis]--; |
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167 | } |
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168 | |||
169 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
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170 | // uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
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171 | |||
172 | if (rcCommand != COMMAND_NONE) { |
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173 | isCommandRepeated = (lastCommand == rcCommand); |
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174 | lastCommand = rcCommand; |
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175 | lastArgument = RC_getArgument(); |
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176 | } /*else if (ecCommand != COMMAND_NONE) { |
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177 | isCommandRepeated = (lastCommand == ecCommand); |
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178 | lastCommand = ecCommand; |
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179 | lastArgument = EC_getArgument(); |
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180 | } */ |
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181 | else { |
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182 | // Both sources have no command, or one or both are out. |
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183 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
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184 | isCommandRepeated = 0; |
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185 | lastCommand = COMMAND_NONE; |
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186 | } |
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187 | } |
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188 | |||
189 | // TODO: Integrate into command system. |
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190 | uint8_t controlMixer_testCompassCalState(void) { |
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191 | return RC_testCompassCalState(); |
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192 | } |