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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 |
2053 | - | 81 | uint8_t invKi = 64; |
1612 | dongfang | 82 | |
83 | /************************************************************************/ |
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84 | /* Filter for motor value smoothing (necessary???) */ |
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85 | /************************************************************************/ |
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86 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
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1988 | - | 87 | switch (staticParams.motorSmoothing) { |
1841 | - | 88 | case 0: |
89 | return newvalue; |
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90 | case 1: |
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1872 | - | 91 | return (oldvalue + newvalue) / 2; |
1841 | - | 92 | case 2: |
1872 | - | 93 | if (newvalue > oldvalue) |
94 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
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95 | else |
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1841 | - | 96 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
97 | case 3: |
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1872 | - | 98 | if (newvalue < oldvalue) |
99 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
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100 | else |
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1841 | - | 101 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
1872 | - | 102 | default: |
103 | return newvalue; |
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1841 | - | 104 | } |
1612 | dongfang | 105 | } |
106 | |||
107 | /************************************************************************/ |
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108 | /* Neutral Readings */ |
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109 | /************************************************************************/ |
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110 | void flight_setNeutral() { |
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1841 | - | 111 | MKFlags |= MKFLAG_CALIBRATE; |
112 | // not really used here any more. |
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1960 | - | 113 | /* |
1841 | - | 114 | dynamicParams.KalmanK = -1; |
115 | dynamicParams.KalmanMaxDrift = 0; |
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116 | dynamicParams.KalmanMaxFusion = 32; |
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1960 | - | 117 | */ |
1841 | - | 118 | controlMixer_initVariables(); |
1612 | dongfang | 119 | } |
120 | |||
2053 | - | 121 | void setFlightParameters(uint8_t _invKi, uint8_t _gyroPFactor, |
1872 | - | 122 | uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
2053 | - | 123 | invKi = _invKi; |
1841 | - | 124 | gyroPFactor = _gyroPFactor; |
125 | gyroIFactor = _gyroIFactor; |
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126 | yawPFactor = _yawPFactor; |
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127 | yawIFactor = _yawIFactor; |
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1612 | dongfang | 128 | } |
129 | |||
130 | void setNormalFlightParameters(void) { |
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1956 | - | 131 | setFlightParameters( |
2032 | - | 132 | staticParams.IFactor, |
1960 | - | 133 | dynamicParams.gyroP, |
134 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
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135 | dynamicParams.gyroP, |
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2032 | - | 136 | staticParams.yawIFactor |
1956 | - | 137 | ); |
1612 | dongfang | 138 | } |
139 | |||
140 | void setStableFlightParameters(void) { |
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2053 | - | 141 | setFlightParameters(0, 90, 120, 90, 120); |
1612 | dongfang | 142 | } |
143 | |||
144 | /************************************************************************/ |
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145 | /* Main Flight Control */ |
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146 | /************************************************************************/ |
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147 | void flight_control(void) { |
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2053 | - | 148 | uint16_t tmp_int; |
1872 | - | 149 | // Mixer Fractions that are combined for Motor Control |
1841 | - | 150 | int16_t yawTerm, throttleTerm, term[2]; |
1612 | dongfang | 151 | |
1841 | - | 152 | // PID controller variables |
2053 | - | 153 | int16_t PDPart; |
2052 | - | 154 | static int32_t IPart[2] = {0, 0}; |
1841 | - | 155 | static uint16_t emergencyFlightTime; |
156 | static int8_t debugDataTimer = 1; |
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1612 | dongfang | 157 | |
1841 | - | 158 | // High resolution motor values for smoothing of PID motor outputs |
159 | static int16_t motorFilters[MAX_MOTORS]; |
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1612 | dongfang | 160 | |
1841 | - | 161 | uint8_t i, axis; |
1612 | dongfang | 162 | |
1908 | - | 163 | throttleTerm = controls[CONTROL_THROTTLE]; |
1870 | - | 164 | |
1841 | - | 165 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
1960 | - | 166 | if (throttleTerm < staticParams.minThrottle + 10) |
167 | throttleTerm = staticParams.minThrottle + 10; |
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168 | else if (throttleTerm > staticParams.maxThrottle - 20) |
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169 | throttleTerm = (staticParams.maxThrottle - 20); |
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1612 | dongfang | 170 | |
1841 | - | 171 | /************************************************************************/ |
172 | /* RC-signal is bad */ |
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173 | /* This part could be abstracted, as having yet another control input */ |
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174 | /* to the control mixer: An emergency autopilot control. */ |
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175 | /************************************************************************/ |
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1775 | - | 176 | |
1872 | - | 177 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
2052 | - | 178 | if (controlMixer_didReceiveSignal) beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
1872 | - | 179 | if (emergencyFlightTime) { |
1841 | - | 180 | // continue emergency flight |
1872 | - | 181 | emergencyFlightTime--; |
182 | if (isFlying > 256) { |
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183 | // We're probably still flying. Descend slowly. |
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1960 | - | 184 | throttleTerm = staticParams.emergencyThrottle; // Set emergency throttle |
185 | MKFlags |= (MKFLAG_EMERGENCY_FLIGHT); // Set flag for emergency landing |
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1872 | - | 186 | setStableFlightParameters(); |
1841 | - | 187 | } else { |
1872 | - | 188 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
1841 | - | 189 | } |
190 | } else { |
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191 | // end emergency flight (just cut the motors???) |
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1960 | - | 192 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_FLIGHT); |
1841 | - | 193 | } |
1872 | - | 194 | } else { |
1841 | - | 195 | // signal is acceptable |
1872 | - | 196 | if (controlMixer_getSignalQuality() > SIGNAL_BAD) { |
1841 | - | 197 | // Reset emergency landing control variables. |
1960 | - | 198 | MKFlags &= ~(MKFLAG_EMERGENCY_FLIGHT); // clear flag for emergency landing |
1841 | - | 199 | // The time is in whole seconds. |
2052 | - | 200 | if (staticParams.emergencyFlightDuration > (65535-F_MAINLOOP)/F_MAINLOOP) |
201 | emergencyFlightTime = 0xffff; |
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202 | else |
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203 | emergencyFlightTime = (uint16_t)staticParams.emergencyFlightDuration * F_MAINLOOP; |
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1841 | - | 204 | } |
1612 | dongfang | 205 | |
1841 | - | 206 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
1872 | - | 207 | if (throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
1841 | - | 208 | // increment flight-time counter until overflow. |
1872 | - | 209 | if (isFlying != 0xFFFF) |
210 | isFlying++; |
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211 | } else |
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212 | /* |
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213 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
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214 | * Probably to avoid integration effects that will cause the copter to spin |
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215 | * or flip when taking off. |
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216 | */ |
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2053 | - | 217 | if (isFlying < 256) { |
218 | IPart[PITCH] = IPart[ROLL] = 0; |
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1960 | - | 219 | if (isFlying == 250) { |
2052 | - | 220 | HC_setGround(); |
221 | #ifdef USE_MK3MAG |
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2048 | - | 222 | attitude_resetHeadingToMagnetic(); |
2052 | - | 223 | compass_setTakeoffHeading(heading); |
224 | #endif |
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2048 | - | 225 | // Set target heading to the one just gotten off compass. |
2051 | - | 226 | // targetHeading = heading; |
1960 | - | 227 | } |
2053 | - | 228 | } else { |
229 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
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230 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
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231 | MKFlags |= (MKFLAG_FLY); |
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232 | } |
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1960 | - | 233 | |
1872 | - | 234 | commands_handleCommands(); |
1841 | - | 235 | setNormalFlightParameters(); |
236 | } // end else (not bad signal case) |
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1960 | - | 237 | |
1841 | - | 238 | // end part 1: 750-800 usec. |
239 | // start part 3: 350 - 400 usec. |
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2051 | - | 240 | #define YAW_I_LIMIT (45L * GYRO_DEG_FACTOR_YAW) |
241 | // This is where control affects the target heading. It also (later) directly controls yaw. |
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242 | headingError -= controls[CONTROL_YAW]; |
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243 | debugOut.analog[28] = headingError / 100; |
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244 | if (headingError < -YAW_I_LIMIT) headingError = -YAW_I_LIMIT; |
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245 | if (headingError > YAW_I_LIMIT) headingError = YAW_I_LIMIT; |
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2048 | - | 246 | |
2053 | - | 247 | PDPart = (int32_t)(headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4); |
2051 | - | 248 | // Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on. |
2053 | - | 249 | PDPart += (int32_t)(yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5); |
1872 | - | 250 | |
1841 | - | 251 | /* |
252 | * Compose throttle term. |
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253 | * If a Bl-Ctrl is missing, prevent takeoff. |
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254 | */ |
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1872 | - | 255 | if (missingMotor) { |
1841 | - | 256 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
1872 | - | 257 | if (isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
1841 | - | 258 | isFlying = 1; // keep within lift off condition |
1960 | - | 259 | throttleTerm = staticParams.minThrottle; // reduce gas to min to avoid lift of |
1841 | - | 260 | } |
1612 | dongfang | 261 | |
1841 | - | 262 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
263 | throttleTerm *= CONTROL_SCALING; |
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1612 | dongfang | 264 | |
1841 | - | 265 | /* |
266 | * Compose yaw term. |
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267 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
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268 | * However, at low throttle the yaw term is limited to a fixed value, |
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269 | * and at high throttle it is limited by the throttle reserve (the difference |
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270 | * between current throttle and maximum throttle). |
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271 | */ |
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1645 | - | 272 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
2053 | - | 273 | yawTerm = PDPart - controls[CONTROL_YAW] * CONTROL_SCALING; |
1841 | - | 274 | // Limit yawTerm |
1955 | - | 275 | debugOut.digital[0] &= ~DEBUG_CLIP; |
1872 | - | 276 | if (throttleTerm > MIN_YAWGAS) { |
277 | if (yawTerm < -throttleTerm / 2) { |
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1955 | - | 278 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 279 | yawTerm = -throttleTerm / 2; |
280 | } else if (yawTerm > throttleTerm / 2) { |
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1955 | - | 281 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 282 | yawTerm = throttleTerm / 2; |
1841 | - | 283 | } |
284 | } else { |
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1872 | - | 285 | if (yawTerm < -MIN_YAWGAS / 2) { |
1955 | - | 286 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 287 | yawTerm = -MIN_YAWGAS / 2; |
288 | } else if (yawTerm > MIN_YAWGAS / 2) { |
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1955 | - | 289 | debugOut.digital[0] |= DEBUG_CLIP; |
1872 | - | 290 | yawTerm = MIN_YAWGAS / 2; |
1841 | - | 291 | } |
292 | } |
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1775 | - | 293 | |
1960 | - | 294 | tmp_int = staticParams.maxThrottle * CONTROL_SCALING; |
1845 | - | 295 | if (yawTerm < -(tmp_int - throttleTerm)) { |
296 | yawTerm = -(tmp_int - throttleTerm); |
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1955 | - | 297 | debugOut.digital[0] |= DEBUG_CLIP; |
1845 | - | 298 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
299 | yawTerm = (tmp_int - throttleTerm); |
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1955 | - | 300 | debugOut.digital[0] |= DEBUG_CLIP; |
1841 | - | 301 | } |
1867 | - | 302 | |
1955 | - | 303 | debugOut.digital[1] &= ~DEBUG_CLIP; |
2053 | - | 304 | |
305 | tmp_int = ((uint16_t)dynamicParams.dynamicStability * ((uint16_t)throttleTerm + abs(yawTerm) / 2)) >> 6; |
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306 | |||
307 | /************************************************************************/ |
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308 | /* Calculate control feedback from angle (gyro integral) */ |
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309 | /* and angular velocity (gyro signal) */ |
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310 | /************************************************************************/ |
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311 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
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1872 | - | 312 | for (axis = PITCH; axis <= ROLL; axis++) { |
2053 | - | 313 | int16_t iDiff; |
314 | iDiff = PDPart = attitude[axis] * gyroIFactor / (GYRO_DEG_FACTOR_PITCHROLL << 3); |
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315 | PDPart += (int32_t)rate_PID[axis] * gyroPFactor / (GYRO_DEG_FACTOR_PITCHROLL >> 4); |
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316 | PDPart += (differential[axis] * (int16_t) dynamicParams.gyroD) / 16; |
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317 | // In acc. mode the I part is summed only from the attitude (IFaktor) angle minus stick. |
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318 | // In HH mode, the I part is summed from P and D of gyros minus stick. |
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1872 | - | 319 | if (gyroIFactor) { |
2053 | - | 320 | IPart[axis] += iDiff - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
1841 | - | 321 | } else { |
2053 | - | 322 | IPart[axis] += PDPart - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
1841 | - | 323 | } |
1612 | dongfang | 324 | |
2053 | - | 325 | // With normal Ki, limit effect to +/- 205 (of 1024!!!) |
326 | if (IPart[axis] < -64000) { |
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327 | IPart[axis] = -64000; |
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2052 | - | 328 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
2053 | - | 329 | } else if (IPart[axis] > 64000) { |
330 | IPart[axis] = 64000; |
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2052 | - | 331 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
332 | } |
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333 | |||
2053 | - | 334 | term[axis] = PDPart - controls[axis] + ((int32_t)IPart[axis] * invKi) >> 14; |
1991 | - | 335 | term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
2051 | - | 336 | /* |
1841 | - | 337 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
338 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
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339 | * (max. pitch or roll term is the throttle value). |
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340 | * TODO: Why a growing function of yaw? |
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341 | */ |
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342 | if (term[axis] < -tmp_int) { |
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1955 | - | 343 | debugOut.digital[1] |= DEBUG_CLIP; |
1841 | - | 344 | } else if (term[axis] > tmp_int) { |
1955 | - | 345 | debugOut.digital[1] |= DEBUG_CLIP; |
1841 | - | 346 | } |
347 | } |
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1775 | - | 348 | |
1841 | - | 349 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
350 | // Universal Mixer |
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351 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
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352 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1612 | dongfang | 353 | |
1976 | - | 354 | debugOut.analog[3] = rate_ATT[PITCH]; |
355 | debugOut.analog[4] = rate_ATT[ROLL]; |
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356 | debugOut.analog[5] = yawRate; |
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357 | |||
358 | debugOut.analog[6] = filteredAcc[PITCH]; |
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359 | debugOut.analog[7] = filteredAcc[ROLL]; |
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360 | debugOut.analog[8] = filteredAcc[Z]; |
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361 | |||
2044 | - | 362 | debugOut.analog[13] = term[PITCH]; |
363 | debugOut.analog[14] = term[ROLL]; |
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364 | debugOut.analog[15] = yawTerm; |
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365 | debugOut.analog[16] = throttleTerm; |
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1775 | - | 366 | |
1872 | - | 367 | for (i = 0; i < MAX_MOTORS; i++) { |
1874 | - | 368 | int32_t tmp; |
1908 | - | 369 | uint8_t throttle; |
370 | |||
1960 | - | 371 | tmp = (int32_t)throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
372 | tmp += (int32_t)term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
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373 | tmp += (int32_t)term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
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374 | tmp += (int32_t)yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
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1908 | - | 375 | tmp = tmp >> 6; |
376 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
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377 | // Now we scale back down to a 0..255 range. |
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378 | tmp = motorFilters[i] / MOTOR_SCALING; |
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379 | |||
380 | // So this was the THIRD time a throttle was limited. But should the limitation |
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381 | // apply to the common throttle signal (the one used for setting the "power" of |
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382 | // all motors together) or should it limit the throttle set for each motor, |
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383 | // including mix components of pitch, roll and yaw? I think only the common |
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384 | // throttle should be limited. |
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385 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
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386 | // Apply to individual signals instead. |
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387 | CHECK_MIN_MAX(tmp, 1, 255); |
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388 | throttle = tmp; |
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389 | |||
2017 | - | 390 | // if (i < 4) debugOut.analog[22 + i] = throttle; |
1908 | - | 391 | |
1960 | - | 392 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
2035 | - | 393 | motor[i].throttle = throttle; |
1872 | - | 394 | } else if (motorTestActive) { |
2035 | - | 395 | motor[i].throttle = motorTest[i]; |
1841 | - | 396 | } else { |
2035 | - | 397 | motor[i].throttle = 0; |
1841 | - | 398 | } |
399 | } |
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1872 | - | 400 | |
1841 | - | 401 | I2C_Start(TWI_STATE_MOTOR_TX); |
1872 | - | 402 | |
1841 | - | 403 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
404 | // Debugging |
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405 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1872 | - | 406 | if (!(--debugDataTimer)) { |
1841 | - | 407 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
2048 | - | 408 | debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
409 | debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
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410 | debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
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1841 | - | 411 | } |
1612 | dongfang | 412 | } |