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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * 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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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | |||
52 | #include <stdlib.h> |
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53 | #include "controlMixer.h" |
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54 | #include "rc.h" |
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55 | #include "externalControl.h" |
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56 | #include "configuration.h" |
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57 | #include "attitude.h" |
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58 | #include "eeprom.h" |
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59 | #include "flight.h" |
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60 | |||
61 | /* |
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62 | * Number of cycles a command must be repeated before commit. Maybe this really belongs in RC. |
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63 | */ |
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64 | #define COMMAND_TIMER 200 |
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65 | |||
66 | uint16_t maxControlPitch = 0, maxControlRoll = 0; |
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67 | int16_t controlPitch = 0, controlRoll = 0, controlYaw = 0, controlThrottle = 0; |
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68 | uint8_t looping = 0; |
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69 | |||
70 | // Internal variables for reading commands made with an R/C stick. |
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71 | uint8_t lastCommand = COMMAND_NONE; |
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72 | uint8_t commandTimer = 0; |
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73 | |||
74 | /* |
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75 | * This could be expanded to take arguments from ohter sources than the RC |
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76 | * (read: Custom MK RC project) |
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77 | */ |
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78 | uint8_t controlMixer_getArgument(void) { |
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79 | return RC_getArgument(); |
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80 | } |
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81 | |||
82 | /* |
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83 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
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84 | * than the R/C (read: Custom MK R/C project) |
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85 | */ |
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86 | uint8_t controlMixer_getCommand(void) { |
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87 | // If the same command was made COMMAND_TIMER times, it's stable. |
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88 | if (commandTimer >= COMMAND_TIMER) { |
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89 | return lastCommand; |
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90 | } |
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91 | return COMMAND_NONE; |
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92 | } |
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93 | |||
94 | uint8_t controlMixer_isCommandRepeated(void) { |
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95 | return commandTimer > COMMAND_TIMER ? 1 : 0; |
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96 | } |
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97 | |||
98 | void controlMixer_setNeutral(uint8_t calibrate) { |
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99 | if (calibrate) |
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100 | RC_calibrate(); |
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101 | EC_setNeutral(); |
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102 | } |
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103 | |||
104 | /* |
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105 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
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106 | * No slew rate limitation. |
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107 | */ |
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108 | void controlMixer_initVariables(void) { |
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109 | uint8_t i; |
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110 | for (i=0; i<8; i++) { |
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111 | variables[i] = RC_getVariable(i); |
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112 | } |
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113 | } |
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114 | |||
115 | /* |
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116 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
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117 | */ |
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118 | void controlMixer_updateVariables(void) { |
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119 | uint8_t i; |
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120 | int16_t targetvalue; |
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121 | for (i=0; i<8; i++) { |
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122 | targetvalue = RC_getVariable(i); |
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123 | if (targetvalue < 0) targetvalue = 0; |
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124 | if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
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125 | } |
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126 | } |
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127 | |||
128 | uint8_t controlMixer_getSignalQuality(void) { |
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129 | uint8_t rcQ = RC_getSignalQuality(); |
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130 | uint8_t ecQ = EC_getSignalQuality(); |
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131 | DebugOut.Analog[16] = rcQ; |
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132 | DebugOut.Analog[17] = ecQ; |
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133 | // This needs not be the only correct solution... |
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134 | return rcQ > ecQ ? rcQ : ecQ; |
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135 | } |
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136 | |||
137 | /* |
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138 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
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139 | */ |
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140 | void controlMixer_update(void) { |
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141 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
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142 | // TODO: If no signal --> zero. |
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143 | RC_update(); |
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144 | EC_update(); |
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145 | |||
146 | int16_t* RC_PRTY = RC_getPRTY(); |
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147 | int16_t* EC_PRTY = EC_getPRTY(); |
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148 | |||
149 | controlPitch = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
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150 | controlRoll = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
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1634 | - | 151 | controlThrottle = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]; |
152 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
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153 | |||
154 | DebugOut.Analog[6] = controlPitch; |
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155 | DebugOut.Analog[7] = controlRoll; |
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156 | DebugOut.Analog[8] = controlYaw; |
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1612 | dongfang | 157 | |
158 | if (RC_getSignalQuality() >= SIGNAL_GOOD) { |
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159 | controlMixer_updateVariables(); |
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160 | configuration_applyVariablesToParams(); |
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161 | looping = RC_getLooping(looping); |
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162 | } else { // Signal is not OK |
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163 | // Could handle switch to emergency flight here. |
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164 | // throttle is handled elsewhere. |
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165 | looping = 0; |
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166 | } |
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167 | |||
168 | DebugOut.Analog[18] = (int16_t)looping; |
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169 | |||
170 | // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
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171 | // TODO: Correct, for changed range (stick gain + expo is now applied already) |
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172 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
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173 | if (controlYaw > 2) controlYaw-= 2; |
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174 | else if (controlYaw< -2) controlYaw += 2; |
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175 | else controlYaw = 0; |
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176 | } |
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177 | |||
178 | /* |
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179 | * Record maxima |
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180 | */ |
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181 | if(abs(controlPitch / STICK_GAIN) > maxControlPitch) { |
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182 | maxControlPitch = abs(controlPitch) / STICK_GAIN; |
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183 | if(maxControlPitch > 100) maxControlPitch = 100; |
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184 | } else if (maxControlPitch) maxControlPitch--; |
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185 | if(abs(controlRoll / STICK_GAIN) > maxControlRoll) { |
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186 | maxControlRoll = abs(controlRoll) / STICK_GAIN; |
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187 | if(maxControlRoll > 100) maxControlRoll = 100; |
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188 | } |
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189 | else if (maxControlRoll) maxControlRoll--; |
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190 | |||
191 | // Here we could blend in other sources. |
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192 | uint8_t commandNow = RC_getCommand(); |
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193 | |||
194 | if (commandNow != lastCommand) { |
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195 | lastCommand = commandNow; |
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196 | commandTimer = 0; |
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197 | } else if (commandTimer < COMMAND_TIMER + 1) |
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198 | commandTimer++; |
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199 | } |
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200 | |||
201 | /* |
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202 | void setCompassCalState(void) { |
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203 | static uint8_t stick = 1; |
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204 | // if pitch is centered or top set stick to zero |
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205 | if(RCChannel(CH_PITCH) > -20) stick = 0; |
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206 | // if pitch is down trigger to next cal state |
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207 | if((RCChannel(CH_PITCH) < -70) && !stick) { |
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208 | stick = 1; |
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209 | compassCalState++; |
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210 | if(compassCalState < 5) beepNumber(compassCalState); |
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211 | else beep(1000); |
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212 | } |
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213 | } |
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214 | */ |