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Rev | Author | Line No. | Line |
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1775 | - | 1 | #include <inttypes.h> |
2 | #include "attitude.h" |
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3 | #include "uart0.h" |
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4 | #include "configuration.h" |
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5 | #include "controlMixer.h" |
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6 | |||
7 | // for digital / LED debug. |
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8 | #include "output.h" |
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9 | |||
10 | // For scope debugging only! |
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11 | #include "rc.h" |
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12 | |||
13 | #define INTEGRAL_LIMIT 100000 |
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14 | |||
15 | /* |
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1821 | - | 16 | #define DEBUGINTEGRAL 0 |
17 | #define DEBUGDIFFERENTIAL 0 |
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18 | #define DEBUGHOVERTHROTTLE 0 |
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19 | #define DEBUGHEIGHTSWITCH 0 |
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20 | */ |
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1775 | - | 21 | |
22 | #define LATCH_TIME 40 |
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23 | |||
24 | int32_t groundPressure; |
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25 | |||
26 | int32_t targetHeight; |
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27 | int32_t rampedTargetHeight; |
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28 | |||
29 | #define DEFAULT_HOVERTHROTTLE 50 |
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30 | int32_t stronglyFilteredHeightDiff = 0; |
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31 | uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE; |
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32 | uint16_t stronglyFilteredThrottle = DEFAULT_HOVERTHROTTLE; |
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33 | #define HOVERTHROTTLEFILTER 25 |
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34 | |||
35 | uint8_t heightRampingTimer = 0; |
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36 | int32_t maxHeight; |
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37 | int32_t iHeight; |
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38 | /* |
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1821 | - | 39 | These parameters are free to take: |
40 | uint8_t HeightMinGas; // Value : 0-100 |
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41 | uint8_t HeightD; // Value : 0-250 |
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42 | uint8_t MaxHeight; // Value : 0-32 |
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43 | uint8_t HeightP; // Value : 0-32 |
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44 | uint8_t Height_Gain; // Value : 0-50 |
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45 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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1775 | - | 46 | */ |
47 | |||
48 | int32_t getHeight(void) { |
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1821 | - | 49 | return groundPressure - filteredAirPressure; |
1775 | - | 50 | } |
51 | |||
52 | void HC_setGround(void) { |
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1821 | - | 53 | groundPressure = filteredAirPressure; |
54 | // This should also happen when height control is enabled in-flight. |
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55 | rampedTargetHeight = getHeight(); |
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56 | maxHeight = 0; |
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57 | iHeight = 0; |
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1775 | - | 58 | } |
59 | |||
60 | void HC_update(void) { |
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1821 | - | 61 | int32_t height = getHeight(); |
62 | static uint8_t setHeightLatch = 0; |
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1775 | - | 63 | |
1821 | - | 64 | if (height > maxHeight) |
65 | maxHeight = height; |
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1775 | - | 66 | |
1821 | - | 67 | if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
68 | // If switch is activated in config |
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69 | DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
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70 | if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40) { |
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71 | // Switch is ON |
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72 | if (setHeightLatch <= LATCH_TIME) { |
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73 | if (setHeightLatch == LATCH_TIME) { |
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74 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
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75 | targetHeight = height; |
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76 | DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH; |
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77 | } |
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78 | // Time not yet reached. |
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79 | setHeightLatch++; |
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80 | } |
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81 | } else { |
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82 | // Switch is OFF. |
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83 | setHeightLatch = 0; |
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84 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH; |
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85 | } |
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86 | } else { |
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87 | // Switch is not activated; take the "max-height" as the target height. |
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88 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
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89 | targetHeight = (uint16_t) dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
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1775 | - | 90 | } |
91 | |||
1821 | - | 92 | if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) { |
93 | heightRampingTimer = 0; |
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94 | if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
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95 | rampedTargetHeight += staticParams.Height_Gain; |
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96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
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97 | rampedTargetHeight -= staticParams.Height_Gain; |
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98 | } |
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99 | } |
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100 | |||
101 | // height, in meters (so the division factor is: 100) |
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102 | DebugOut.Analog[30] = height / 100; |
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1775 | - | 103 | } |
104 | |||
105 | // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
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106 | // ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH |
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107 | // ParamSet.BitConfig & CFG_HEIGHT_3SWITCH |
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108 | |||
109 | // takes 180-200 usec (with integral term). That is too heavy!!! |
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110 | // takes 100 usec without integral term. |
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111 | uint16_t HC_getThrottle(uint16_t throttle) { |
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1821 | - | 112 | int32_t height = getHeight(); |
113 | int32_t heightError = rampedTargetHeight - height; |
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1775 | - | 114 | |
1821 | - | 115 | static int32_t lastHeight; |
1775 | - | 116 | |
1821 | - | 117 | int16_t dHeight = height - lastHeight; |
118 | lastHeight = height; |
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1775 | - | 119 | |
1821 | - | 120 | // DebugOut.Analog[20] = dHeight; |
121 | // DebugOut.Analog[21] = dynamicParams.MaxHeight; |
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1775 | - | 122 | |
1821 | - | 123 | // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec.... |
124 | // iHeight += heightError; |
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1775 | - | 125 | |
1821 | - | 126 | if (dHeight > 0) { |
127 | DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
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128 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
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129 | } else if (dHeight < 0) { |
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130 | DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
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131 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
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132 | } |
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1775 | - | 133 | |
1821 | - | 134 | /* |
135 | if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
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136 | else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
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137 | else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
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138 | else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
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139 | */ |
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1775 | - | 140 | |
1821 | - | 141 | int16_t dThrottle = heightError * staticParams.HeightP / 1000 |
142 | /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */- dHeight |
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143 | * staticParams.HeightD; |
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1775 | - | 144 | |
1821 | - | 145 | // the "minGas" is now a limit for how much up / down the throttle can be varied |
146 | if (dThrottle > staticParams.HeightMinGas) |
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147 | dThrottle = staticParams.HeightMinGas; |
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148 | else if (dThrottle < -staticParams.HeightMinGas) |
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149 | dThrottle = -staticParams.HeightMinGas; |
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1775 | - | 150 | |
1821 | - | 151 | //DebugOut.Analog[18] = dThrottle; |
152 | //DebugOut.Analog[19] = iHeight / 10000L; |
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1775 | - | 153 | |
1821 | - | 154 | // TODO: Eliminate repitition. |
155 | if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
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156 | if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) |
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157 | || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40)) { |
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158 | // If switch is not in use --> Just apply height control. |
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159 | // If switch is in use --> only apply height control when switch is also ON. |
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160 | throttle += dThrottle; |
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161 | } |
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162 | } |
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163 | |||
164 | /* Experiment: Find hover-throttle */ |
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165 | stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff |
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166 | * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
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167 | stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER |
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168 | - 1) + throttle) / HOVERTHROTTLEFILTER; |
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169 | |||
170 | if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 |
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171 | && stronglyFilteredHeightDiff > -3) { |
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172 | hoverThrottle = stronglyFilteredThrottle; |
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173 | DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
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174 | // DebugOut.Analog[18] = hoverThrottle; |
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175 | } else |
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176 | DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
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177 | return throttle; |
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1775 | - | 178 | } |
179 | |||
180 | /* |
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1821 | - | 181 | For a variometer thingy: |
182 | When switch is thrown on, freeze throttle (capture it into variable) |
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183 | For each iter., add (throttle - frozen throttle) to target height. Maybe don't do ramping. |
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184 | Output = frozen throttle + whatever is computed +/-. Integral? |
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185 | */ |