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| Rev | Author | Line No. | Line |
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| 2108 | - | 1 | #include <stdlib.h> |
| 2 | #include <avr/io.h> |
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| 3 | #include "eeprom.h" |
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| 4 | #include "flight.h" |
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| 5 | #include "output.h" |
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| 6 | |||
| 7 | // Necessary for external control and motor test |
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| 8 | #include "uart0.h" |
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| 9 | #include "timer2.h" |
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| 10 | #include "analog.h" |
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| 11 | #include "attitude.h" |
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| 12 | #include "controlMixer.h" |
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| 13 | #include "configuration.h" |
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| 14 | |||
| 15 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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| 16 | |||
| 17 | /* |
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| 18 | * target-directions integrals. |
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| 19 | */ |
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| 20 | int32_t target[3]; |
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| 21 | |||
| 22 | /* |
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| 23 | * Error integrals. |
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| 24 | */ |
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| 25 | int32_t error[3]; |
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| 26 | |||
| 27 | uint8_t reverse[3]; |
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| 28 | int32_t maxError[3]; |
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| 29 | int32_t IPart[3] = { 0, 0, 0 }; |
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| 30 | PID_t airspeedPID[3]; |
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| 31 | |||
| 32 | int16_t controlServos[NUM_CONTROL_SERVOS]; |
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| 33 | |||
| 34 | /************************************************************************/ |
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| 35 | /* Neutral Readings */ |
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| 36 | /************************************************************************/ |
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| 37 | #define CONTROL_CONFIG_SCALE 10 |
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| 38 | |||
| 39 | void flight_setGround(void) { |
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| 40 | IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0; |
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| 41 | target[PITCH] = attitude[PITCH]; |
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| 42 | target[ROLL] = attitude[ROLL]; |
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| 43 | target[YAW] = attitude[YAW]; |
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| 44 | } |
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| 45 | |||
| 46 | void flight_updateFlightParametersToFlightMode(void) { |
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| 47 | debugOut.analog[16] = currentFlightMode; |
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| 48 | reverse[PITCH] = staticParams.controlServosReverse & CONTROL_SERVO_REVERSE_ELEVATOR; |
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| 49 | reverse[ROLL] = staticParams.controlServosReverse & CONTROL_SERVO_REVERSE_AILERONS; |
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| 50 | reverse[YAW] = staticParams.controlServosReverse & CONTROL_SERVO_REVERSE_RUDDER; |
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| 51 | |||
| 52 | // At a switch to angles, we want to kill errors first. |
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| 53 | // This should be triggered only once per mode change! |
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| 54 | if (currentFlightMode == FLIGHT_MODE_ANGLES) { |
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| 55 | target[PITCH] = attitude[PITCH]; |
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| 56 | target[ROLL] = attitude[ROLL]; |
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| 57 | target[YAW] = attitude[YAW]; |
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| 58 | } |
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| 59 | |||
| 60 | for (uint8_t axis=0; axis<3; axis++) { |
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| 61 | maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR; |
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| 62 | } |
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| 63 | } |
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| 64 | |||
| 65 | // Normal at airspeed = 10. |
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| 66 | uint8_t calcAirspeedPID(uint8_t pid) { |
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| 67 | if (staticParams.bitConfig & CFG_USE_AIRSPEED_PID) { |
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| 68 | return pid; |
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| 69 | } |
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| 70 | |||
| 71 | uint16_t result = (pid * 10) / airspeedVelocity; |
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| 72 | |||
| 73 | if (result > 240 || airspeedVelocity == 0) { |
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| 74 | result = 240; |
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| 75 | } |
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| 76 | |||
| 77 | return result; |
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| 78 | } |
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| 79 | |||
| 80 | void setAirspeedPIDs(void) { |
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| 81 | for (uint8_t axis = 0; axis<3; axis++) { |
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| 82 | airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P); |
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| 83 | airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be??? |
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| 84 | airspeedPID[axis].D = dynamicParams.gyroPID[axis].D; |
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| 85 | } |
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| 86 | } |
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| 87 | |||
| 88 | /************************************************************************/ |
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| 89 | /* Main Flight Control */ |
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| 90 | /************************************************************************/ |
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| 91 | void flight_control(void) { |
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| 92 | // Mixer Fractions that are combined for Motor Control |
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| 93 | int16_t term[4]; |
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| 94 | |||
| 95 | // PID controller variables |
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| 96 | int16_t PDPart[3]; |
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| 97 | |||
| 98 | static int8_t debugDataTimer = 1; |
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| 99 | |||
| 100 | // High resolution motor values for smoothing of PID motor outputs |
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| 101 | // static int16_t outputFilters[MAX_OUTPUTS]; |
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| 102 | |||
| 103 | uint8_t axis; |
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| 104 | |||
| 105 | setAirspeedPIDs(); |
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| 106 | |||
| 107 | term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE]; |
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| 108 | |||
| 109 | // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
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| 2109 | - | 110 | target[PITCH] += (controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> 7; |
| 111 | target[ROLL] += (controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> 7; |
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| 112 | target[YAW] += (controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> 7; |
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| 2108 | - | 113 | |
| 114 | for (axis = PITCH; axis <= YAW; axis++) { |
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| 115 | if (target[axis] > OVER180) { |
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| 116 | target[axis] -= OVER360; |
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| 117 | } else if (target[axis] <= -OVER180) { |
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| 118 | target[axis] += OVER360; |
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| 119 | } |
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| 120 | |||
| 121 | if (reverse[axis]) |
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| 122 | error[axis] = attitude[axis] + target[axis]; |
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| 123 | else |
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| 124 | error[axis] = attitude[axis] - target[axis]; |
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| 125 | |||
| 126 | if (error[axis] > maxError[axis]) { |
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| 127 | error[axis] = maxError[axis]; |
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| 128 | } else if (error[axis] < -maxError[axis]) { |
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| 129 | error[axis] =- maxError[axis]; |
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| 130 | } |
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| 131 | |||
| 132 | #define LOG_P_SCALE 6 |
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| 133 | #define LOG_I_SCALE 6 |
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| 134 | #define LOG_D_SCALE 4 |
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| 135 | |||
| 136 | /************************************************************************/ |
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| 137 | /* Calculate control feedback from angle (gyro integral) */ |
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| 138 | /* and angular velocity (gyro signal) */ |
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| 139 | /************************************************************************/ |
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| 140 | if (currentFlightMode == FLIGHT_MODE_ANGLES || currentFlightMode |
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| 141 | == FLIGHT_MODE_RATE) { |
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| 142 | PDPart[axis] = (((int32_t) gyro_PID[axis] |
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| 143 | * (int16_t) airspeedPID[axis].P) >> LOG_P_SCALE) |
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| 144 | + ((gyroD[axis] * (int16_t) airspeedPID[axis].D) |
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| 145 | >> LOG_D_SCALE); |
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| 146 | if (reverse[axis]) |
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| 147 | PDPart[axis] = -PDPart[axis]; |
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| 148 | } else { |
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| 149 | PDPart[axis] = 0; |
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| 150 | } |
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| 151 | |||
| 152 | if (currentFlightMode == FLIGHT_MODE_ANGLES) { |
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| 153 | int16_t anglePart = (int32_t)( |
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| 154 | error[axis] * (int32_t) airspeedPID[axis].I) |
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| 155 | >> LOG_I_SCALE; |
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| 156 | if (reverse[axis]) |
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| 157 | PDPart[axis] += anglePart; |
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| 158 | else |
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| 159 | PDPart[axis] -= anglePart; |
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| 160 | } |
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| 161 | // Add I parts here... these are integrated errors. |
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| 162 | // When an error wraps, actually its I part should be negated or something... |
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| 163 | |||
| 164 | term[axis] = controls[axis] + PDPart[axis] + IPart[axis]; |
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| 165 | } |
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| 166 | |||
| 167 | debugOut.analog[12] = term[PITCH]; |
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| 168 | debugOut.analog[13] = term[ROLL]; |
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| 169 | debugOut.analog[14] = term[YAW]; |
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| 170 | debugOut.analog[15] = term[THROTTLE]; |
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| 171 | |||
| 172 | for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) { |
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| 173 | int16_t tmp; |
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| 174 | if (servoTestActive) { |
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| 175 | controlServos[i] = ((int16_t) servoTest[i] - 128) * 4; |
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| 176 | } else { |
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| 177 | // Follow the normal order of servos: Ailerons, elevator, throttle, rudder. |
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| 178 | switch (i) { |
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| 179 | case 0: |
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| 180 | tmp = term[ROLL]; |
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| 181 | break; |
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| 182 | case 1: |
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| 183 | tmp = term[PITCH]; |
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| 184 | break; |
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| 185 | case 2: |
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| 186 | tmp = term[THROTTLE]; |
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| 187 | break; |
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| 188 | case 3: |
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| 189 | tmp = term[YAW]; |
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| 190 | break; |
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| 191 | default: |
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| 192 | tmp = 0; |
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| 193 | } |
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| 194 | // These are all signed and in the same units as the RC stuff in rc.c. |
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| 195 | controlServos[i] = tmp; |
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| 196 | } |
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| 197 | } |
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| 198 | |||
| 199 | calculateControlServoValues(); |
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| 200 | |||
| 201 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 202 | // Debugging |
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| 203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 204 | if (!(--debugDataTimer)) { |
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| 205 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
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| 206 | debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg |
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| 207 | debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg |
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| 208 | debugOut.analog[2] = gyro_PID[YAW]; |
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| 209 | |||
| 210 | debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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| 211 | debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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| 212 | debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10); |
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| 213 | |||
| 214 | debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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| 215 | debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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| 216 | debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10); |
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| 217 | |||
| 218 | debugOut.analog[9] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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| 219 | debugOut.analog[10] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
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| 220 | debugOut.analog[11] = error[YAW] / (GYRO_DEG_FACTOR / 10); |
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| 221 | |||
| 222 | debugOut.analog[12] = term[PITCH]; |
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| 223 | debugOut.analog[13] = term[ROLL]; |
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| 224 | debugOut.analog[14] = term[YAW]; |
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| 225 | |||
| 226 | //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
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| 227 | //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
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| 228 | //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg |
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| 229 | //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg |
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| 230 | } |
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| 231 | } |