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Rev | Author | Line No. | Line |
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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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1623 | - | 3 | // + Nur für den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1623 | - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1623 | - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1623 | - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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1612 | dongfang | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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1623 | - | 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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1612 | dongfang | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1623 | - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1623 | - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
1612 | dongfang | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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1623 | - | 25 | // + mit unserer Zustimmung zulässig |
1612 | dongfang | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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1623 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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1612 | dongfang | 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | |||
53 | #include <stdlib.h> |
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54 | #include <avr/io.h> |
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55 | #include "eeprom.h" |
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56 | #include "flight.h" |
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57 | |||
58 | // Only for debug. Remove. |
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1645 | - | 59 | //#include "analog.h" |
60 | //#include "rc.h" |
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1612 | dongfang | 61 | |
62 | // Necessary for external control and motor test |
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63 | #include "uart0.h" |
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1775 | - | 64 | |
65 | // for scope debugging |
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66 | // #include "rc.h" |
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67 | |||
1612 | dongfang | 68 | #include "twimaster.h" |
69 | #include "attitude.h" |
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70 | #include "controlMixer.h" |
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1775 | - | 71 | #include "commands.h" |
1612 | dongfang | 72 | #ifdef USE_MK3MAG |
73 | #include "gps.h" |
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74 | #endif |
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75 | |||
76 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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77 | |||
78 | /* |
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79 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
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80 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
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81 | */ |
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1645 | - | 82 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
1612 | dongfang | 83 | |
84 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
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85 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
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86 | |||
87 | // Some integral weight constant... |
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88 | uint16_t Ki = 10300 / 33; |
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89 | uint8_t RequiredMotors = 0; |
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90 | |||
91 | // No support for altitude control right now. |
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92 | // int16_t SetPointHeight = 0; |
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93 | |||
94 | /************************************************************************/ |
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95 | /* Filter for motor value smoothing (necessary???) */ |
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96 | /************************************************************************/ |
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97 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
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98 | switch(dynamicParams.UserParams[5]) { |
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99 | case 0: |
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100 | return newvalue; |
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101 | case 1: |
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102 | return (oldvalue + newvalue) / 2; |
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103 | case 2: |
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104 | if(newvalue > oldvalue) |
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105 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
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106 | else |
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107 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
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108 | case 3: |
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109 | if(newvalue < oldvalue) |
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110 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
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111 | else |
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112 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
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113 | default: return newvalue; |
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114 | } |
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115 | } |
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116 | |||
117 | /************************************************************************/ |
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118 | /* Neutral Readings */ |
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119 | /************************************************************************/ |
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120 | void flight_setNeutral() { |
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121 | MKFlags |= MKFLAG_CALIBRATE; |
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122 | |||
123 | // not really used here any more. |
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124 | dynamicParams.KalmanK = -1; |
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125 | dynamicParams.KalmanMaxDrift = 0; |
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126 | dynamicParams.KalmanMaxFusion = 32; |
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127 | |||
128 | controlMixer_initVariables(); |
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129 | } |
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130 | |||
131 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
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132 | Ki = 10300 / _Ki; |
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133 | gyroPFactor = _gyroPFactor; |
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134 | gyroIFactor = _gyroIFactor; |
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135 | yawPFactor = _yawPFactor; |
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136 | yawIFactor = _yawIFactor; |
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137 | } |
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138 | |||
139 | void setNormalFlightParameters(void) { |
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140 | setFlightParameters(dynamicParams.IFactor + 1, |
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141 | dynamicParams.GyroP + 10, |
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1621 | - | 142 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
1612 | dongfang | 143 | dynamicParams.GyroP + 10, |
144 | dynamicParams.UserParams[6] |
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145 | ); |
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146 | } |
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147 | |||
148 | void setStableFlightParameters(void) { |
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149 | setFlightParameters(33, 90, 120, 90, 120); |
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150 | } |
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151 | |||
152 | |||
153 | /************************************************************************/ |
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154 | /* Main Flight Control */ |
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155 | /************************************************************************/ |
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156 | void flight_control(void) { |
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157 | int16_t tmp_int; |
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158 | // Mixer Fractions that are combined for Motor Control |
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1645 | - | 159 | int16_t yawTerm, throttleTerm, term[2]; |
1612 | dongfang | 160 | |
161 | // PID controller variables |
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1645 | - | 162 | int16_t PDPart[2], PDPartYaw, PPart[2]; |
163 | static int32_t IPart[2] = {0,0}; |
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1775 | - | 164 | // static int32_t yawControlRate = 0; |
1612 | dongfang | 165 | |
166 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
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167 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
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168 | // static int32_t CorrectionPitch, CorrectionRoll; |
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169 | |||
170 | static uint16_t emergencyFlightTime; |
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171 | static int8_t debugDataTimer = 1; |
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172 | |||
173 | // High resolution motor values for smoothing of PID motor outputs |
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174 | static int16_t motorFilters[MAX_MOTORS]; |
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175 | |||
1645 | - | 176 | uint8_t i, axis; |
1612 | dongfang | 177 | |
178 | // Fire the main flight attitude calculation, including integration of angles. |
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1775 | - | 179 | |
1612 | dongfang | 180 | calculateFlightAttitude(); |
181 | |||
182 | /* |
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183 | * TODO: update should: Set the stick variables if good signal, set them to zero if bad. |
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184 | * Set variables also. |
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185 | */ |
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1775 | - | 186 | // start part 1: 750-800 usec. |
187 | // start part 1a: 750-800 usec. |
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188 | // start part1b: 700 usec |
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189 | // start part1c: 700 usec!!!!!!!!! WAY too slow. |
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1612 | dongfang | 190 | controlMixer_update(); |
1775 | - | 191 | // end part1c |
1612 | dongfang | 192 | |
193 | throttleTerm = controlThrottle; |
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1775 | - | 194 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
195 | // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
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196 | // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
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1612 | dongfang | 197 | |
1775 | - | 198 | // end part1b: 700 usec. |
1612 | dongfang | 199 | /************************************************************************/ |
200 | /* RC-signal is bad */ |
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201 | /* This part could be abstracted, as having yet another control input */ |
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202 | /* to the control mixer: An emergency autopilot control. */ |
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203 | /************************************************************************/ |
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1775 | - | 204 | |
1612 | dongfang | 205 | if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
206 | RED_ON; |
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207 | beepRCAlarm(); |
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208 | |||
209 | if(emergencyFlightTime) { |
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210 | // continue emergency flight |
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211 | emergencyFlightTime--; |
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1775 | - | 212 | if(isFlying > 256) { |
1612 | dongfang | 213 | // We're probably still flying. Descend slowly. |
214 | throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
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215 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
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216 | setStableFlightParameters(); |
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217 | } else { |
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218 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
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219 | } |
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220 | } else { |
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221 | // end emergency flight (just cut the motors???) |
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222 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
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223 | } |
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224 | } else { |
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225 | // signal is acceptable |
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226 | if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
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227 | // Reset emergency landing control variables. |
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228 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
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229 | // The time is in whole seconds. |
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1775 | - | 230 | emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488; |
1612 | dongfang | 231 | } |
232 | |||
233 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
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234 | if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
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235 | // increment flight-time counter until overflow. |
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236 | if(isFlying != 0xFFFF) isFlying++; |
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237 | } else |
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238 | /* |
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239 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
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240 | * Probably to avoid integration effects that will cause the copter to spin |
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241 | * or flip when taking off. |
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242 | */ |
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243 | if(isFlying < 256) { |
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1775 | - | 244 | IPart[PITCH] = IPart[ROLL] = 0; |
245 | // TODO: Don't stomp on other modules' variables!!! |
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246 | // controlYaw = 0; |
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247 | PDPartYaw = 0; // instead. |
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248 | if(isFlying == 250) { |
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249 | // HC_setGround(); |
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250 | updateCompassCourse = 1; |
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251 | yawAngleDiff = 0; |
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1645 | - | 252 | } |
1612 | dongfang | 253 | } else { |
1645 | - | 254 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
255 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
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256 | MKFlags |= (MKFLAG_FLY); |
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1612 | dongfang | 257 | } |
258 | |||
1775 | - | 259 | commands_handleCommands(); |
1612 | dongfang | 260 | |
261 | // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
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262 | setNormalFlightParameters(); |
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263 | // } |
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264 | } // end else (not bad signal case) |
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1775 | - | 265 | // end part1a: 750-800 usec. |
1612 | dongfang | 266 | /* |
267 | * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
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268 | * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
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269 | * This is the throttle part. |
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270 | */ |
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271 | if(looping) { |
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272 | if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
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273 | } |
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274 | |||
275 | /************************************************************************/ |
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276 | /* Yawing */ |
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277 | /************************************************************************/ |
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278 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
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279 | badCompassHeading = 1000; |
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280 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
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281 | updateCompassCourse = 1; |
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282 | } |
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283 | } |
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284 | |||
1775 | - | 285 | // yawControlRate = controlYaw; |
1612 | dongfang | 286 | |
1775 | - | 287 | // Trim drift of yawAngleDiff with controlYaw. |
1612 | dongfang | 288 | // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
1775 | - | 289 | // This seems to be used as: Difference desired <--> real heading. |
290 | yawAngleDiff -= controlYaw; |
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1612 | dongfang | 291 | |
292 | // limit the effect |
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1775 | - | 293 | CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
294 | |||
295 | /************************************************************************/ |
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296 | /* Compass is currently not supported. */ |
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297 | /************************************************************************/ |
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298 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
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299 | updateCompass(); |
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300 | } |
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301 | |||
1612 | dongfang | 302 | #if defined (USE_MK3MAG) |
1775 | - | 303 | /************************************************************************/ |
304 | /* GPS is currently not supported. */ |
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305 | /************************************************************************/ |
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306 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
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307 | GPS_Main(); |
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308 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
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309 | } |
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310 | else { |
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311 | // GPSStickPitch = 0; |
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312 | // GPSStickRoll = 0; |
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313 | } |
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1612 | dongfang | 314 | #endif |
1775 | - | 315 | // end part 1: 750-800 usec. |
316 | // start part 3: 350 - 400 usec. |
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1645 | - | 317 | #define SENSOR_LIMIT (4096 * 4) |
1612 | dongfang | 318 | /************************************************************************/ |
1775 | - | 319 | |
1612 | dongfang | 320 | /* Calculate control feedback from angle (gyro integral) */ |
321 | /* and angular velocity (gyro signal) */ |
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322 | /************************************************************************/ |
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323 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
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1645 | - | 324 | for (axis=PITCH; axis<=ROLL; axis++) { |
1775 | - | 325 | if(looping & ((1<<4)<<axis)) { |
1645 | - | 326 | PPart[axis] = 0; |
327 | } else { // TODO: Where do the 44000 come from??? |
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328 | PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
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329 | } |
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330 | |||
331 | /* |
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332 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
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333 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
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334 | * where pfactor is in [0..1]. |
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335 | */ |
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336 | PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
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337 | + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
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338 | |||
339 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
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1612 | dongfang | 340 | } |
1775 | - | 341 | |
342 | PDPartYaw = |
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343 | (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
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344 | + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
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1612 | dongfang | 345 | |
346 | // limit control feedback |
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1775 | - | 347 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
1612 | dongfang | 348 | |
349 | /* |
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350 | * Compose throttle term. |
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351 | * If a Bl-Ctrl is missing, prevent takeoff. |
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352 | */ |
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353 | if(missingMotor) { |
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354 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
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1775 | - | 355 | if(isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
1612 | dongfang | 356 | isFlying = 1; // keep within lift off condition |
1615 | dongfang | 357 | throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
1612 | dongfang | 358 | } |
359 | |||
1775 | - | 360 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
1645 | - | 361 | throttleTerm *= CONTROL_SCALING; |
1612 | dongfang | 362 | |
363 | /* |
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364 | * Compose yaw term. |
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1645 | - | 365 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
366 | * However, at low throttle the yaw term is limited to a fixed value, |
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367 | * and at high throttle it is limited by the throttle reserve (the difference |
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368 | * between current throttle and maximum throttle). |
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1612 | dongfang | 369 | */ |
1645 | - | 370 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
1775 | - | 371 | yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
372 | // Limit yawTerm |
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1612 | dongfang | 373 | if(throttleTerm > MIN_YAWGAS) { |
374 | CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
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375 | } else { |
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376 | CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
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377 | } |
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1775 | - | 378 | |
1645 | - | 379 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
1612 | dongfang | 380 | CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
381 | |||
1645 | - | 382 | tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
1612 | dongfang | 383 | |
1645 | - | 384 | for (axis=PITCH; axis<=ROLL; axis++) { |
385 | /* |
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386 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
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387 | */ |
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388 | if(gyroIFactor) { |
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389 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
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390 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
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391 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
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392 | IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
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393 | } else { |
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394 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
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395 | // To keep up with a full stick PDPart should be about 156... |
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396 | IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
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397 | } |
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1775 | - | 398 | |
1645 | - | 399 | // TODO: From which planet comes the 16000? |
400 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
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401 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
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402 | term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
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1775 | - | 403 | |
1645 | - | 404 | /* |
405 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
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406 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
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407 | * (max. pitch or roll term is the throttle value). |
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408 | * TODO: Why a growing function of yaw? |
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409 | */ |
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410 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
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411 | } |
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1775 | - | 412 | // end part 3: 350 - 400 usec. |
1612 | dongfang | 413 | |
414 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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415 | // Universal Mixer |
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1645 | - | 416 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
1612 | dongfang | 417 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1775 | - | 418 | |
419 | DebugOut.Analog[12] = term[PITCH]; |
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420 | DebugOut.Analog[13] = term[ROLL]; |
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421 | DebugOut.Analog[14] = yawTerm; |
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422 | DebugOut.Analog[15] = throttleTerm; |
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423 | |||
1612 | dongfang | 424 | for(i = 0; i < MAX_MOTORS; i++) { |
425 | int16_t tmp; |
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1775 | - | 426 | if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
1612 | dongfang | 427 | tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
1645 | - | 428 | tmp += ((int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
429 | tmp += ((int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
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1612 | dongfang | 430 | tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
431 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
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1775 | - | 432 | // Now we scale back down to a 0..255 range. |
1645 | - | 433 | tmp = motorFilters[i] / CONTROL_SCALING; |
1775 | - | 434 | // So this was the THIRD time a throttle was limited. But should the limitation |
435 | // apply to the common throttle signal (the one used for setting the "power" of |
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436 | // all motors together) or should it limit the throttle set for each motor, |
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437 | // including mix components of pitch, roll and yaw? I think only the common |
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438 | // throttle should be limited. |
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439 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
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440 | // Apply to individual signals instead. |
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1615 | dongfang | 441 | CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
1775 | - | 442 | CHECK_MIN_MAX(tmp, 1, 255); |
443 | motor[i].SetPoint = tmp; |
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1612 | dongfang | 444 | } |
1775 | - | 445 | else if (motorTestActive) { |
446 | motor[i].SetPoint = motorTest[i]; |
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447 | } else { |
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448 | motor[i].SetPoint = 0; |
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449 | } |
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450 | if (i < 4) |
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451 | DebugOut.Analog[22+i] = motor[i].SetPoint; |
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1612 | dongfang | 452 | } |
1775 | - | 453 | I2C_Start(TWI_STATE_MOTOR_TX); |
454 | |||
1612 | dongfang | 455 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | - | 456 | // Debugging |
1612 | dongfang | 457 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
458 | if(!(--debugDataTimer)) { |
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459 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
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1645 | - | 460 | DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
461 | DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
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1612 | dongfang | 462 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
463 | |||
1775 | - | 464 | /* |
465 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
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466 | DebugOut.Analog[24] = controlYaw; |
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467 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
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1645 | - | 468 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
469 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
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1775 | - | 470 | */ |
1645 | - | 471 | |
472 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
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473 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
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1612 | dongfang | 474 | } |
475 | } |