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Rev | Author | Line No. | Line |
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1868 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1612 | dongfang | 2 | // + Copyright (c) 04.2007 Holger Buss |
1870 | - | 3 | // + Nur für den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1870 | - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (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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1870 | - | 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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1870 | - | 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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1870 | - | 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
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1612 | dongfang | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1870 | - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1870 | - | 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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1870 | - | 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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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
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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1870 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
1612 | dongfang | 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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 <avr/io.h> |
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54 | #include "eeprom.h" |
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55 | #include "flight.h" |
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1845 | - | 56 | #include "output.h" |
2052 | - | 57 | #include "uart0.h" |
1612 | dongfang | 58 | |
59 | // Necessary for external control and motor test |
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60 | #include "twimaster.h" |
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61 | #include "attitude.h" |
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62 | #include "controlMixer.h" |
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1775 | - | 63 | #include "commands.h" |
2052 | - | 64 | #include "heightControl.h" |
1612 | dongfang | 65 | |
2052 | - | 66 | #ifdef USE_MK3MAG |
67 | #include "mk3mag.h" |
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68 | #include "compassControl.h" |
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69 | #endif |
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70 | |||
1612 | dongfang | 71 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
72 | |||
73 | /* |
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74 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
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75 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
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76 | */ |
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1645 | - | 77 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
1612 | dongfang | 78 | |
1872 | - | 79 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
1612 | dongfang | 80 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
81 | |||
82 | // Some integral weight constant... |
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83 | uint16_t Ki = 10300 / 33; |
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84 | |||
85 | /************************************************************************/ |
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86 | /* Filter for motor value smoothing (necessary???) */ |
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87 | /************************************************************************/ |
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88 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
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1988 | - | 89 | switch (staticParams.motorSmoothing) { |
1841 | - | 90 | case 0: |
91 | return newvalue; |
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92 | case 1: |
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1872 | - | 93 | return (oldvalue + newvalue) / 2; |
1841 | - | 94 | case 2: |
1872 | - | 95 | if (newvalue > oldvalue) |
96 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
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97 | else |
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1841 | - | 98 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
99 | case 3: |
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1872 | - | 100 | if (newvalue < oldvalue) |
101 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
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102 | else |
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1841 | - | 103 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
1872 | - | 104 | default: |
105 | return newvalue; |
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1841 | - | 106 | } |
1612 | dongfang | 107 | } |
108 | |||
109 | /************************************************************************/ |
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110 | /* Neutral Readings */ |
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111 | /************************************************************************/ |
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112 | void flight_setNeutral() { |
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1841 | - | 113 | MKFlags |= MKFLAG_CALIBRATE; |
114 | // not really used here any more. |
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1960 | - | 115 | /* |
1841 | - | 116 | dynamicParams.KalmanK = -1; |
117 | dynamicParams.KalmanMaxDrift = 0; |
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118 | dynamicParams.KalmanMaxFusion = 32; |
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1960 | - | 119 | */ |
1841 | - | 120 | controlMixer_initVariables(); |
1612 | dongfang | 121 | } |
122 | |||
1872 | - | 123 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, |
124 | uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
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1841 | - | 125 | Ki = 10300 / _Ki; |
126 | gyroPFactor = _gyroPFactor; |
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127 | gyroIFactor = _gyroIFactor; |
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128 | yawPFactor = _yawPFactor; |
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129 | yawIFactor = _yawIFactor; |
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1612 | dongfang | 130 | } |
131 | |||
132 | void setNormalFlightParameters(void) { |
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1956 | - | 133 | setFlightParameters( |
2032 | - | 134 | staticParams.IFactor, |
1960 | - | 135 | dynamicParams.gyroP, |
136 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
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137 | dynamicParams.gyroP, |
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2032 | - | 138 | staticParams.yawIFactor |
1956 | - | 139 | ); |
1612 | dongfang | 140 | } |
141 | |||
142 | void setStableFlightParameters(void) { |
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1841 | - | 143 | setFlightParameters(33, 90, 120, 90, 120); |
1612 | dongfang | 144 | } |
145 | |||
146 | /************************************************************************/ |
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147 | /* Main Flight Control */ |
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148 | /************************************************************************/ |
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149 | void flight_control(void) { |
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1841 | - | 150 | int16_t tmp_int; |
1872 | - | 151 | // Mixer Fractions that are combined for Motor Control |
1841 | - | 152 | int16_t yawTerm, throttleTerm, term[2]; |
1612 | dongfang | 153 | |
1841 | - | 154 | // PID controller variables |
2015 | - | 155 | int16_t PDPart[2],/* DPart[2],*/ PDPartYaw /*, DPartYaw */; |
2052 | - | 156 | static int32_t IPart[2] = {0, 0}; |
1841 | - | 157 | static uint16_t emergencyFlightTime; |
158 | static int8_t debugDataTimer = 1; |
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1612 | dongfang | 159 | |
1841 | - | 160 | // High resolution motor values for smoothing of PID motor outputs |
161 | static int16_t motorFilters[MAX_MOTORS]; |
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1612 | dongfang | 162 | |
1841 | - | 163 | uint8_t i, axis; |
1612 | dongfang | 164 | |
1908 | - | 165 | throttleTerm = controls[CONTROL_THROTTLE]; |
1870 | - | 166 | |
1841 | - | 167 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
1960 | - | 168 | if (throttleTerm < staticParams.minThrottle + 10) |
169 | throttleTerm = staticParams.minThrottle + 10; |
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170 | else if (throttleTerm > staticParams.maxThrottle - 20) |
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171 | throttleTerm = (staticParams.maxThrottle - 20); |
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1612 | dongfang | 172 | |
1841 | - | 173 | /************************************************************************/ |
174 | /* RC-signal is bad */ |
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175 | /* This part could be abstracted, as having yet another control input */ |
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176 | /* to the control mixer: An emergency autopilot control. */ |
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177 | /************************************************************************/ |
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1775 | - | 178 | |
1872 | - | 179 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
2052 | - | 180 | if (controlMixer_didReceiveSignal) beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
1872 | - | 181 | if (emergencyFlightTime) { |
1841 | - | 182 | // continue emergency flight |
1872 | - | 183 | emergencyFlightTime--; |
184 | if (isFlying > 256) { |
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185 | // We're probably still flying. Descend slowly. |
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1960 | - | 186 | throttleTerm = staticParams.emergencyThrottle; // Set emergency throttle |
187 | MKFlags |= (MKFLAG_EMERGENCY_FLIGHT); // Set flag for emergency landing |
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1872 | - | 188 | setStableFlightParameters(); |
1841 | - | 189 | } else { |
1872 | - | 190 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
1841 | - | 191 | } |
192 | } else { |
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193 | // end emergency flight (just cut the motors???) |
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1960 | - | 194 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_FLIGHT); |
1841 | - | 195 | } |
1872 | - | 196 | } else { |
1841 | - | 197 | // signal is acceptable |
1872 | - | 198 | if (controlMixer_getSignalQuality() > SIGNAL_BAD) { |
1841 | - | 199 | // Reset emergency landing control variables. |
1960 | - | 200 | MKFlags &= ~(MKFLAG_EMERGENCY_FLIGHT); // clear flag for emergency landing |
1841 | - | 201 | // The time is in whole seconds. |
2052 | - | 202 | if (staticParams.emergencyFlightDuration > (65535-F_MAINLOOP)/F_MAINLOOP) |
203 | emergencyFlightTime = 0xffff; |
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204 | else |
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205 | emergencyFlightTime = (uint16_t)staticParams.emergencyFlightDuration * F_MAINLOOP; |
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1841 | - | 206 | } |
1612 | dongfang | 207 | |
1841 | - | 208 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
1872 | - | 209 | if (throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
1841 | - | 210 | // increment flight-time counter until overflow. |
1872 | - | 211 | if (isFlying != 0xFFFF) |
212 | isFlying++; |
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213 | } else |
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214 | /* |
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215 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
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216 | * Probably to avoid integration effects that will cause the copter to spin |
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217 | * or flip when taking off. |
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218 | */ |
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1960 | - | 219 | if (isFlying < 256) { |
220 | IPart[PITCH] = IPart[ROLL] = 0; |
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2026 | - | 221 | PDPartYaw = 0; |
1960 | - | 222 | if (isFlying == 250) { |
2052 | - | 223 | HC_setGround(); |
224 | #ifdef USE_MK3MAG |
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2048 | - | 225 | attitude_resetHeadingToMagnetic(); |
2052 | - | 226 | compass_setTakeoffHeading(heading); |
227 | #endif |
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2048 | - | 228 | // Set target heading to the one just gotten off compass. |
2051 | - | 229 | // targetHeading = heading; |
1960 | - | 230 | } |
231 | } else { |
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232 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
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233 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
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234 | MKFlags |= (MKFLAG_FLY); |
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1841 | - | 235 | } |
1960 | - | 236 | |
1872 | - | 237 | commands_handleCommands(); |
1841 | - | 238 | setNormalFlightParameters(); |
239 | } // end else (not bad signal case) |
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1960 | - | 240 | |
1805 | - | 241 | #if defined (USE_NAVICTRL) |
1841 | - | 242 | /************************************************************************/ |
243 | /* GPS is currently not supported. */ |
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244 | /************************************************************************/ |
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2052 | - | 245 | if(staticParams.GlobalConfig & CFG_GPS_ENABLED) { |
1841 | - | 246 | GPS_Main(); |
247 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
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248 | } else { |
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249 | } |
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1612 | dongfang | 250 | #endif |
1841 | - | 251 | // end part 1: 750-800 usec. |
252 | // start part 3: 350 - 400 usec. |
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1872 | - | 253 | /************************************************************************/ |
1775 | - | 254 | |
1872 | - | 255 | /* Calculate control feedback from angle (gyro integral) */ |
256 | /* and angular velocity (gyro signal) */ |
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257 | /************************************************************************/ |
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258 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
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259 | for (axis = PITCH; axis <= ROLL; axis++) { |
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2049 | - | 260 | PDPart[axis] = attitude[axis] * gyroIFactor / (GYRO_DEG_FACTOR_PITCHROLL << 2); // P-Part - Proportional to Integral |
261 | PDPart[axis] += (int32_t)rate_PID[axis] * gyroPFactor / (GYRO_DEG_FACTOR_PITCHROLL >> 5); |
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2026 | - | 262 | PDPart[axis] += (differential[axis] * (int16_t) dynamicParams.gyroD) / 16; |
2052 | - | 263 | |
264 | //CHECK_MIN_MAX(PDPart[axis], -6L*GYRO_DEG_FACTOR_PITCHROLL, 6L*GYRO_DEG_FACTOR_PITCHROLL); |
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265 | if (PDPart[axis] < -6L*GYRO_DEG_FACTOR_PITCHROLL) { |
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266 | PDPart[axis] =- 6L*GYRO_DEG_FACTOR_PITCHROLL; |
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267 | debugOut.digital[0] |= DEBUG_FLIGHTCLIP; |
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268 | } else if (PDPart[axis] > 6L*GYRO_DEG_FACTOR_PITCHROLL) { |
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269 | PDPart[axis] = 6L*GYRO_DEG_FACTOR_PITCHROLL; |
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270 | debugOut.digital[0] |= DEBUG_FLIGHTCLIP; |
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271 | } |
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1841 | - | 272 | } |
1775 | - | 273 | |
2051 | - | 274 | #define YAW_I_LIMIT (45L * GYRO_DEG_FACTOR_YAW) |
275 | // This is where control affects the target heading. It also (later) directly controls yaw. |
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276 | headingError -= controls[CONTROL_YAW]; |
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277 | debugOut.analog[28] = headingError / 100; |
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278 | if (headingError < -YAW_I_LIMIT) headingError = -YAW_I_LIMIT; |
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279 | if (headingError > YAW_I_LIMIT) headingError = YAW_I_LIMIT; |
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2048 | - | 280 | |
2051 | - | 281 | PDPartYaw = (int32_t)(headingError * yawIFactor) / (GYRO_DEG_FACTOR_PITCHROLL << 3); |
282 | // Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on. |
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2049 | - | 283 | PDPartYaw += (int32_t)(yawRate * yawPFactor) / (GYRO_DEG_FACTOR_PITCHROLL >> 6); |
1872 | - | 284 | |
1841 | - | 285 | // limit control feedback |
1992 | - | 286 | // CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
1872 | - | 287 | |
1841 | - | 288 | /* |
289 | * Compose throttle term. |
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290 | * If a Bl-Ctrl is missing, prevent takeoff. |
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291 | */ |
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1872 | - | 292 | if (missingMotor) { |
1841 | - | 293 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
1872 | - | 294 | if (isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
1841 | - | 295 | isFlying = 1; // keep within lift off condition |
1960 | - | 296 | throttleTerm = staticParams.minThrottle; // reduce gas to min to avoid lift of |
1841 | - | 297 | } |
1612 | dongfang | 298 | |
1841 | - | 299 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
300 | throttleTerm *= CONTROL_SCALING; |
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1612 | dongfang | 301 | |
1841 | - | 302 | /* |
303 | * Compose yaw term. |
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304 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
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305 | * However, at low throttle the yaw term is limited to a fixed value, |
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306 | * and at high throttle it is limited by the throttle reserve (the difference |
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307 | * between current throttle and maximum throttle). |
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308 | */ |
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1645 | - | 309 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
1908 | - | 310 | yawTerm = PDPartYaw - controls[CONTROL_YAW] * CONTROL_SCALING; |
1841 | - | 311 | // Limit yawTerm |
1955 | - | 312 | debugOut.digital[0] &= ~DEBUG_CLIP; |
1872 | - | 313 | if (throttleTerm > MIN_YAWGAS) { |
314 | if (yawTerm < -throttleTerm / 2) { |
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1955 | - | 315 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 316 | yawTerm = -throttleTerm / 2; |
317 | } else if (yawTerm > throttleTerm / 2) { |
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1955 | - | 318 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 319 | yawTerm = throttleTerm / 2; |
1841 | - | 320 | } |
321 | } else { |
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1872 | - | 322 | if (yawTerm < -MIN_YAWGAS / 2) { |
1955 | - | 323 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 324 | yawTerm = -MIN_YAWGAS / 2; |
325 | } else if (yawTerm > MIN_YAWGAS / 2) { |
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1955 | - | 326 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 327 | yawTerm = MIN_YAWGAS / 2; |
1841 | - | 328 | } |
329 | } |
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1775 | - | 330 | |
1960 | - | 331 | tmp_int = staticParams.maxThrottle * CONTROL_SCALING; |
1845 | - | 332 | if (yawTerm < -(tmp_int - throttleTerm)) { |
333 | yawTerm = -(tmp_int - throttleTerm); |
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1955 | - | 334 | debugOut.digital[0] |= DEBUG_CLIP; |
1845 | - | 335 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
336 | yawTerm = (tmp_int - throttleTerm); |
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1955 | - | 337 | debugOut.digital[0] |= DEBUG_CLIP; |
1841 | - | 338 | } |
1867 | - | 339 | |
1841 | - | 340 | // CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
1955 | - | 341 | debugOut.digital[1] &= ~DEBUG_CLIP; |
1872 | - | 342 | for (axis = PITCH; axis <= ROLL; axis++) { |
1841 | - | 343 | /* |
344 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
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345 | */ |
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1872 | - | 346 | if (gyroIFactor) { |
1841 | - | 347 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
348 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
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349 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
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2015 | - | 350 | IPart[axis] += PDPart[axis] - controls[axis]; // Integrate difference between P part (the angle) and the stick pos. |
1841 | - | 351 | } else { |
352 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
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353 | // To keep up with a full stick PDPart should be about 156... |
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1908 | - | 354 | IPart[axis] += PDPart[axis] - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
1841 | - | 355 | } |
1612 | dongfang | 356 | |
1960 | - | 357 | tmp_int = (int32_t) ((int32_t) dynamicParams.dynamicStability |
1872 | - | 358 | * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64; |
1612 | dongfang | 359 | |
2052 | - | 360 | //CHECK_MIN_MAX(IPart[axis], -25L*GYRO_DEG_FACTOR_PITCHROLL, 25L*GYRO_DEG_FACTOR_PITCHROLL); |
361 | if (IPart[axis] < -25L*GYRO_DEG_FACTOR_PITCHROLL) { |
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362 | IPart[axis] =- 25L*GYRO_DEG_FACTOR_PITCHROLL; |
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363 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
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364 | } else if (PDPart[axis] > 25L*GYRO_DEG_FACTOR_PITCHROLL) { |
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365 | PDPart[axis] = 25L*GYRO_DEG_FACTOR_PITCHROLL; |
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366 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
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367 | } |
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368 | |||
1841 | - | 369 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
1908 | - | 370 | term[axis] = PDPart[axis] - controls[axis] + IPart[axis] / Ki; // PID-controller for pitch |
1991 | - | 371 | term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
2051 | - | 372 | /* |
1841 | - | 373 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
374 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
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375 | * (max. pitch or roll term is the throttle value). |
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376 | * TODO: Why a growing function of yaw? |
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377 | */ |
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378 | if (term[axis] < -tmp_int) { |
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1955 | - | 379 | debugOut.digital[1] |= DEBUG_CLIP; |
1841 | - | 380 | } else if (term[axis] > tmp_int) { |
1955 | - | 381 | debugOut.digital[1] |= DEBUG_CLIP; |
1841 | - | 382 | } |
383 | } |
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1775 | - | 384 | |
1841 | - | 385 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
386 | // Universal Mixer |
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387 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
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388 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1612 | dongfang | 389 | |
1976 | - | 390 | debugOut.analog[3] = rate_ATT[PITCH]; |
391 | debugOut.analog[4] = rate_ATT[ROLL]; |
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392 | debugOut.analog[5] = yawRate; |
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393 | |||
394 | debugOut.analog[6] = filteredAcc[PITCH]; |
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395 | debugOut.analog[7] = filteredAcc[ROLL]; |
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396 | debugOut.analog[8] = filteredAcc[Z]; |
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397 | |||
2044 | - | 398 | debugOut.analog[13] = term[PITCH]; |
399 | debugOut.analog[14] = term[ROLL]; |
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400 | debugOut.analog[15] = yawTerm; |
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401 | debugOut.analog[16] = throttleTerm; |
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1775 | - | 402 | |
1872 | - | 403 | for (i = 0; i < MAX_MOTORS; i++) { |
1874 | - | 404 | int32_t tmp; |
1908 | - | 405 | uint8_t throttle; |
406 | |||
1960 | - | 407 | tmp = (int32_t)throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
408 | tmp += (int32_t)term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
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409 | tmp += (int32_t)term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
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410 | tmp += (int32_t)yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
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1908 | - | 411 | tmp = tmp >> 6; |
412 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
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413 | // Now we scale back down to a 0..255 range. |
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414 | tmp = motorFilters[i] / MOTOR_SCALING; |
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415 | |||
416 | // So this was the THIRD time a throttle was limited. But should the limitation |
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417 | // apply to the common throttle signal (the one used for setting the "power" of |
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418 | // all motors together) or should it limit the throttle set for each motor, |
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419 | // including mix components of pitch, roll and yaw? I think only the common |
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420 | // throttle should be limited. |
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421 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
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422 | // Apply to individual signals instead. |
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423 | CHECK_MIN_MAX(tmp, 1, 255); |
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424 | throttle = tmp; |
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425 | |||
2017 | - | 426 | // if (i < 4) debugOut.analog[22 + i] = throttle; |
1908 | - | 427 | |
1960 | - | 428 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
2035 | - | 429 | motor[i].throttle = throttle; |
1872 | - | 430 | } else if (motorTestActive) { |
2035 | - | 431 | motor[i].throttle = motorTest[i]; |
1841 | - | 432 | } else { |
2035 | - | 433 | motor[i].throttle = 0; |
1841 | - | 434 | } |
435 | } |
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1872 | - | 436 | |
1841 | - | 437 | I2C_Start(TWI_STATE_MOTOR_TX); |
1872 | - | 438 | |
1841 | - | 439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | // Debugging |
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441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1872 | - | 442 | if (!(--debugDataTimer)) { |
1841 | - | 443 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
2048 | - | 444 | debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
445 | debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
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446 | debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
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1841 | - | 447 | } |
1612 | dongfang | 448 | } |