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1910 | - | 1 | #include <stdlib.h> |
2 | #include <avr/io.h> |
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3 | #include "eeprom.h" |
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4 | #include "flight.h" |
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5 | #include "output.h" |
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6 | |||
7 | // Necessary for external control and motor test |
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8 | #include "uart0.h" |
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9 | |||
10 | #include "timer2.h" |
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2103 | - | 11 | #include "analog.h" |
1910 | - | 12 | #include "attitude.h" |
13 | #include "controlMixer.h" |
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14 | |||
15 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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16 | |||
17 | /* |
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2099 | - | 18 | * target-directions integrals. |
1910 | - | 19 | */ |
2099 | - | 20 | int32_t target[3]; |
1910 | - | 21 | |
2099 | - | 22 | /* |
23 | * Error integrals. |
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24 | */ |
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25 | int32_t error[3]; |
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1910 | - | 26 | |
2099 | - | 27 | uint8_t pFactor[3]; |
28 | uint8_t dFactor[3]; |
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29 | uint8_t iFactor[3]; |
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30 | uint8_t reverse[3]; |
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31 | int32_t IPart[3] = { 0, 0, 0 }; |
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1910 | - | 32 | |
2102 | - | 33 | int16_t controlServos[MAX_CONTROL_SERVOS]; |
1910 | - | 34 | |
35 | /************************************************************************/ |
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36 | /* Neutral Readings */ |
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37 | /************************************************************************/ |
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38 | #define CONTROL_CONFIG_SCALE 10 |
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39 | |||
2099 | - | 40 | void flight_setGround(void) { |
2102 | - | 41 | IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0; |
42 | target[PITCH] = attitude[PITCH]; |
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43 | target[ROLL] = attitude[ROLL]; |
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44 | target[YAW] = attitude[YAW]; |
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1910 | - | 45 | } |
46 | |||
2102 | - | 47 | // this should be followed by a call to switchToFlightMode!! |
2103 | - | 48 | void flight_updateFlightParametersToFlightMode(uint8_t flightMode) { |
49 | debugOut.analog[16] = flightMode; |
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1910 | - | 50 | |
2103 | - | 51 | reverse[PITCH] = staticParams.controlServosReverse |
2102 | - | 52 | & CONTROL_SERVO_REVERSE_ELEVATOR; |
2103 | - | 53 | reverse[ROLL] = staticParams.controlServosReverse |
2102 | - | 54 | & CONTROL_SERVO_REVERSE_AILERONS; |
2103 | - | 55 | reverse[YAW] = staticParams.controlServosReverse |
2102 | - | 56 | & CONTROL_SERVO_REVERSE_RUDDER; |
1910 | - | 57 | |
2102 | - | 58 | for (uint8_t i = 0; i < 3; i++) { |
59 | if (flightMode == FLIGHT_MODE_MANUAL) { |
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60 | pFactor[i] = 0; |
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61 | dFactor[i] = 0; |
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62 | } else if(flightMode == FLIGHT_MODE_RATE || flightMode == FLIGHT_MODE_ANGLES) { |
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63 | pFactor[i] = staticParams.gyroPID[i].P; |
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64 | dFactor[i] = staticParams.gyroPID[i].D; |
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65 | } |
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66 | |||
67 | if (flightMode == FLIGHT_MODE_ANGLES) { |
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68 | iFactor[i] = staticParams.gyroPID[i].I; |
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69 | } else if(flightMode == FLIGHT_MODE_RATE || flightMode == FLIGHT_MODE_MANUAL) { |
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70 | iFactor[i] = 0; |
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71 | } |
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72 | } |
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1910 | - | 73 | } |
74 | |||
75 | /************************************************************************/ |
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76 | /* Main Flight Control */ |
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77 | /************************************************************************/ |
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78 | void flight_control(void) { |
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2102 | - | 79 | // Mixer Fractions that are combined for Motor Control |
2103 | - | 80 | int16_t term[4]; |
2099 | - | 81 | |
2102 | - | 82 | // PID controller variables |
83 | int16_t PDPart[3]; |
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1910 | - | 84 | |
2102 | - | 85 | static int8_t debugDataTimer = 1; |
1910 | - | 86 | |
2102 | - | 87 | // High resolution motor values for smoothing of PID motor outputs |
88 | // static int16_t outputFilters[MAX_OUTPUTS]; |
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1910 | - | 89 | |
2102 | - | 90 | uint8_t axis; |
1910 | - | 91 | |
2102 | - | 92 | // TODO: Check modern version. |
93 | // calculateFlightAttitude(); |
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94 | // TODO: Check modern version. |
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95 | // controlMixer_update(); |
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2103 | - | 96 | term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE]; |
1910 | - | 97 | |
2102 | - | 98 | // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
2103 | - | 99 | target[PITCH] += (controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> 6; |
100 | target[ROLL] += (controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> 6; |
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101 | target[YAW] += (controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> 6; |
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1910 | - | 102 | |
2102 | - | 103 | for (axis = PITCH; axis <= YAW; axis++) { |
104 | if (target[axis] > OVER180) { |
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105 | target[axis] -= OVER360; |
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2103 | - | 106 | } else if (target[axis] <= -OVER180) { |
107 | target[axis] += OVER360; |
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2102 | - | 108 | } |
1910 | - | 109 | |
2102 | - | 110 | if (reverse[axis]) |
111 | error[axis] = attitude[axis] + target[axis]; |
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112 | else |
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113 | error[axis] = attitude[axis] - target[axis]; |
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114 | if (error[axis] > OVER180) { |
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115 | error[axis] -= OVER360; |
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116 | } else if (error[axis] <= -OVER180) { |
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117 | error[axis] += OVER360; |
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118 | } |
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1910 | - | 119 | |
2102 | - | 120 | /************************************************************************/ |
121 | /* Calculate control feedback from angle (gyro integral) */ |
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122 | /* and angular velocity (gyro signal) */ |
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123 | /************************************************************************/ |
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2103 | - | 124 | PDPart[axis] = (((int32_t) gyro_PID[axis] * pFactor[axis]) >> 6) |
125 | + ((gyroD[axis] * (int16_t) dFactor[axis]) >> 4); |
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2102 | - | 126 | if (reverse[axis]) |
127 | PDPart[axis] = -PDPart[axis]; |
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1910 | - | 128 | |
2102 | - | 129 | int16_t anglePart = (error[axis] * iFactor[axis]) >> 10; |
130 | if (reverse[axis]) |
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131 | PDPart[axis] += anglePart; |
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132 | else |
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133 | PDPart[axis] -= anglePart; |
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1910 | - | 134 | |
2102 | - | 135 | // Add I parts here... these are integrated errors. |
136 | // When an error wraps, actually its I part should be negated or something... |
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1910 | - | 137 | |
2102 | - | 138 | term[axis] = controls[axis] + PDPart[axis] + IPart[axis]; |
139 | } |
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1910 | - | 140 | |
2102 | - | 141 | debugOut.analog[12] = term[PITCH]; |
142 | debugOut.analog[13] = term[ROLL]; |
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2103 | - | 143 | debugOut.analog[14] = term[YAW]; |
144 | debugOut.analog[15] = term[THROTTLE]; |
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2099 | - | 145 | |
2102 | - | 146 | for (uint8_t i = 0; i < MAX_CONTROL_SERVOS; i++) { |
147 | int16_t tmp; |
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148 | if (servoTestActive) { |
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149 | controlServos[i] = ((int16_t) servoTest[i] - 128) * 4; |
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150 | } else { |
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151 | // Follow the normal order of servos: Ailerons, elevator, throttle, rudder. |
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152 | switch (i) { |
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153 | case 0: |
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154 | tmp = term[ROLL]; |
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155 | break; |
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156 | case 1: |
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157 | tmp = term[PITCH]; |
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158 | break; |
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159 | case 2: |
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2103 | - | 160 | tmp = term[THROTTLE]; |
2102 | - | 161 | break; |
162 | case 3: |
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163 | tmp = term[YAW]; |
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164 | break; |
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165 | default: |
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166 | tmp = 0; |
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167 | } |
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168 | // These are all signed and in the same units as the RC stuff in rc.c. |
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169 | controlServos[i] = tmp; |
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170 | } |
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171 | } |
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1910 | - | 172 | |
2103 | - | 173 | calculateControlServoValues(); |
1910 | - | 174 | |
2102 | - | 175 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
176 | // Debugging |
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177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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178 | if (!(--debugDataTimer)) { |
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179 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
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2103 | - | 180 | debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg |
181 | debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg |
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182 | debugOut.analog[2] = gyro_PID[YAW]; |
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1910 | - | 183 | |
2102 | - | 184 | debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
185 | debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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186 | debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10); |
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2099 | - | 187 | |
2102 | - | 188 | debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
189 | debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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190 | debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10); |
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191 | |||
192 | debugOut.analog[9] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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193 | debugOut.analog[10] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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194 | debugOut.analog[11] = error[YAW] / (GYRO_DEG_FACTOR / 10); |
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195 | |||
196 | debugOut.analog[12] = term[PITCH]; |
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197 | debugOut.analog[13] = term[ROLL]; |
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198 | debugOut.analog[14] = term[YAW]; |
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199 | |||
200 | //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
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201 | //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
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202 | //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg |
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203 | //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg |
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204 | } |
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1910 | - | 205 | } |