70,7 → 70,6 |
#ifdef USE_CMPS03 |
#include "cmps03.h" |
#endif |
#include "led.h" |
|
volatile uint16_t I2CTimeout = 100; |
// gyro readings |
115,7 → 114,7 |
|
volatile int16_t DiffPitch, DiffRoll; |
|
int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
|
// setpoints for motors |
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
363,23 → 362,11 |
if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
|
//PPM24-Extension |
if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
|
//limit poti values |
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
//PPM24-Extension |
if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
|
TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
420,33 → 407,31 |
/************************************************************************/ |
void ParameterMapping(void) |
{ |
if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok |
// else the last updated values are used |
{ |
#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
Ki = (float) FCParam.I_Factor * FACTOR_I; |
} |
|
#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
|
Ki = (float) FCParam.I_Factor * FACTOR_I; |
} |
|
|
455,24 → 440,24 |
/************************************************************************/ |
void MotorControl(void) |
{ |
int16_t MotorValue, pd_result, h, tmp_int; |
int16_t YawMixFraction, ThrustMixFraction; |
static int32_t SumPitch = 0, SumRoll = 0; |
static int32_t SetPointYaw = 0; |
static int32_t IntegralErrorPitch = 0; |
static int32_t IntegralErrorRoll = 0; |
static uint16_t RcLostTimer; |
static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
static uint16_t Modell_Is_Flying = 0; |
static uint8_t HeightControlActive = 0; |
static int16_t HeightControlThrust = 0; |
static int8_t TimerDebugOut = 0; |
static int8_t StoreNewCompassCourse = 0; |
static int32_t CorrectionPitch, CorrectionRoll; |
int16_t MotorValue, pd_result, h, tmp_int; |
int16_t YawMixFraction, ThrustMixFraction; |
static int32_t SumPitch = 0, SumRoll = 0; |
static int32_t SetPointYaw = 0; |
static int32_t IntegralErrorPitch = 0; |
static int32_t IntegralErrorRoll = 0; |
static uint16_t RcLostTimer; |
static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
static uint16_t Modell_Is_Flying = 0; |
static uint8_t HeightControlActive = 0; |
static int16_t HeightControlThrust = 0; |
static int8_t TimerDebugOut = 0; |
static int8_t StoreNewCompassCourse = 0; |
static int32_t CorrectionPitch, CorrectionRoll; |
|
Mean(); |
GRN_ON; |
|
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// determine thrust value |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
486,7 → 471,7 |
// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
// the main loop is running 11 times that decrements the SenderOkay by 11. |
if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
{ |
if(!PcAccess) // if also no PC-Access via UART |
{ |
515,7 → 500,7 |
PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
} |
else MotorsOn = 0; // switch of all motors |
} // eof SenderOkay < 100 |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// RC-signal is good |
545,45 → 530,45 |
// calibrate the neutral readings of all attitude sensors |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
{ |
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
{ |
delay_neutral = 0; |
GRN_OFF; |
Modell_Is_Flying = 0; |
// check roll/pitch stick position |
// if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
// according to roll/pitch stick position |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
{ |
delay_neutral = 0; |
GRN_OFF; |
Modell_Is_Flying = 0; |
// check roll/pitch stick position |
// if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
// according to roll/pitch stick position |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
{ |
uint8_t setting = 1; // default |
// _________ |
// |2 3 4| |
// | | |
// |1 5| |
// | | |
// |_________| |
// |
// roll stick leftmost and pitch stick centered --> setting 1 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
// roll stick leftmost and pitch stick topmost --> setting 2 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
// roll stick centered an pitch stick topmost --> setting 3 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
// roll stick rightmost and pitch stick topmost --> setting 4 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
// roll stick rightmost and pitch stick centered --> setting 5 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
// update active parameter set in eeprom |
SetActiveParamSet(setting); |
} |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(); |
Beep(GetActiveParamSet()); |
uint8_t setting = 1; // default |
// _________ |
// |2 3 4| |
// | | |
// |1 5| |
// | | |
// |_________| |
// |
// roll stick leftmost and pitch stick centered --> setting 1 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
// roll stick leftmost and pitch stick topmost --> setting 2 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
// roll stick centered an pitch stick topmost --> setting 3 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
// roll stick rightmost and pitch stick topmost --> setting 4 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
// roll stick rightmost and pitch stick centered --> setting 5 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
// update active parameter set in eeprom |
SetActiveParamSet(setting); |
} |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(); |
Beep(GetActiveParamSet()); |
} |
} |
// and if the yaw stick is in the rightmost position |
// save the ACC neutral setting to eeprom |
else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
{ |
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
{ |
599,7 → 584,7 |
Beep(GetActiveParamSet()); |
} |
} |
else delay_neutral = 0; |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// thrust stick is down |
639,582 → 624,573 |
delay_stopmotors = 200; // do not repeat if once executed |
Modell_Is_Flying = 0; |
MotorsOn = 0; |
GPS_ClearHomePosition(); |
|
} |
} |
else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
} |
} |
// remapping of paameters only if the signal rc-sigbnal conditions are good |
} // eof SenderOkay > 140 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// new values from RC |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
{ |
int tmp_int; |
ParameterMapping(); // remapping params (online poti replacement) |
// calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
{ |
int tmp_int; |
ParameterMapping(); // remapping params (online poti replacement) |
|
// direct mapping of yaw and thrust |
StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
// calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
|
// update max stick positions for pitch, roll and yaw |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
else MaxStickPitch--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
else MaxStickRoll--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
else MaxStickYaw--; |
// direct mapping of yaw and thrust |
StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
|
// update gyro control loop factors |
// update max stick positions for pitch, roll and yaw |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
else MaxStickPitch--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
else MaxStickRoll--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
else MaxStickYaw--; |
|
Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
// update gyro control loop factors |
|
Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Digital Control via DubWise |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
#define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
if(DubWiseKeys[1]) BeepTime = 10; |
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
else tmp_int = 0; |
ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
else tmp_int = 0; |
ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
#define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
if(DubWiseKeys[1]) BeepTime = 10; |
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
else tmp_int = 0; |
ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
else tmp_int = 0; |
ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
|
if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
if(DubWiseKeys[0] & 2) ExternHeightValue++; |
if(DubWiseKeys[0] & 16) ExternHeightValue--; |
if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
if(DubWiseKeys[0] & 2) ExternHeightValue++; |
if(DubWiseKeys[0] & 16) ExternHeightValue--; |
|
StickPitch += ExternStickPitch / 8; |
StickRoll += ExternStickRoll / 8; |
StickYaw += ExternStickYaw; |
StickPitch += ExternStickPitch / 8; |
StickRoll += ExternStickRoll / 8; |
StickYaw += ExternStickYaw; |
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Analog control via serial communication |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
{ |
StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
StickYaw += ExternControl.Yaw; |
ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
} |
// disable I part of gyro control feedback |
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
// avoid negative scaling factors |
if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
{ |
StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
StickYaw += ExternControl.Yaw; |
ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
} |
// disable I part of gyro control feedback |
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
// avoid negative scaling factors |
if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
else |
{ |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
else |
{ |
if(Looping_Right) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
else |
{ |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
else |
{ |
if(Looping_Right) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
} |
} |
|
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
else |
{ |
if(Looping_Top) // Hysterese |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
else |
{ |
if(Looping_Down) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
else |
{ |
if(Looping_Top) // Hysterese |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
else |
{ |
if(Looping_Down) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
} |
} |
|
if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
} // End of new RC-Values or Emergency Landing |
if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
} // End of new RC-Values or Emergency Landing |
|
|
if(Looping_Roll) BeepTime = 100; |
if(Looping_Roll || Looping_Pitch) |
{ |
if(Looping_Roll) BeepTime = 100; |
if(Looping_Roll || Looping_Pitch) |
{ |
if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
} |
} |
|
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ LED Control on J16/J17 |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
LED_OffTime = FCParam.UserParam7; |
LED_OnTime = FCParam.UserParam8; |
LED_Update(); |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// in case of emergency landing |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// set all inputs to save values |
if(EmergencyLanding) |
{ |
StickYaw = 0; |
StickPitch = 0; |
StickRoll = 0; |
Gyro_P_Factor = 0.5; |
Gyro_I_Factor = 0.003; |
Looping_Roll = 0; |
Looping_Pitch = 0; |
MaxStickPitch = 0; |
MaxStickRoll = 0; |
MaxStickYaw = 0; |
} |
// set all inputs to save values |
if(EmergencyLanding) |
{ |
StickYaw = 0; |
StickPitch = 0; |
StickRoll = 0; |
Gyro_P_Factor = 0.5; |
Gyro_I_Factor = 0.003; |
Looping_Roll = 0; |
Looping_Pitch = 0; |
MaxStickPitch = 0; |
MaxStickRoll = 0; |
MaxStickYaw = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Trim Gyro-Integrals to ACC-Signals |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
#define BALANCE_NUMBER 256L |
// sum for averaging |
MeanIntegralPitch += IntegralPitch; |
MeanIntegralRoll += IntegralRoll; |
#define BALANCE_NUMBER 256L |
// sum for averaging |
MeanIntegralPitch += IntegralPitch; |
MeanIntegralRoll += IntegralRoll; |
|
if(Looping_Pitch || Looping_Roll) // if looping in any direction |
{ |
// reset averaging for acc and gyro integral as well as gyro integral acc correction |
MeasurementCounter = 0; |
if(Looping_Pitch || Looping_Roll) // if looping in any direction |
{ |
// reset averaging for acc and gyro integral as well as gyro integral acc correction |
MeasurementCounter = 0; |
|
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
|
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
|
Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
|
AttitudeCorrectionPitch = 0; |
AttitudeCorrectionRoll = 0; |
} |
AttitudeCorrectionPitch = 0; |
AttitudeCorrectionRoll = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
{ |
int32_t tmp_long, tmp_long2; |
// determine the deviation of gyro integral from averaged acceleration sensor |
tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
tmp_long /= 16; |
tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
tmp_long2 /= 16; |
if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
{ |
int32_t tmp_long, tmp_long2; |
// determine the deviation of gyro integral from averaged acceleration sensor |
tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
tmp_long /= 16; |
tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
tmp_long2 /= 16; |
|
if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(MaxStickYaw > 25) // reduce further is yaw stick is active |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
|
#define BALANCE 32 |
// limit correction effect |
if(tmp_long > BALANCE) tmp_long = BALANCE; |
if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
// correct current readings |
Reading_IntegralGyroPitch -= tmp_long; |
Reading_IntegralGyroRoll -= tmp_long2; |
} |
if(MaxStickYaw > 25) // reduce further is yaw stick is active |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// MeasurementCounter is incremented in the isr of analog.c |
if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
static int16_t cnt = 0; |
static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
|
#define BALANCE 32 |
// limit correction effect |
if(tmp_long > BALANCE) tmp_long = BALANCE; |
if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
// correct current readings |
Reading_IntegralGyroPitch -= tmp_long; |
Reading_IntegralGyroRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// MeasurementCounter is incremented in the isr of analog.c |
if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
{ |
static int16_t cnt = 0; |
static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
// if not lopping in any direction (this should be alwais the case, |
// because the Measurement counter is reset to 0 if looping in any direction is active.) |
if(!Looping_Pitch && !Looping_Roll) |
{ |
// Calculate mean value of the gyro integrals |
MeanIntegralPitch /= BALANCE_NUMBER; |
MeanIntegralRoll /= BALANCE_NUMBER; |
|
// if not lopping in any direction (this should be alwais the case, |
// because the Measurement counter is reset to 0 if looping in any direction is active.) |
if(!Looping_Pitch && !Looping_Roll) |
{ |
// Calculate mean value of the gyro integrals |
MeanIntegralPitch /= BALANCE_NUMBER; |
MeanIntegralRoll /= BALANCE_NUMBER; |
// Calculate mean of the acceleration values |
IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
|
// Calculate mean of the acceleration values |
IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
|
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
{ |
AttitudeCorrectionPitch /= 2; |
AttitudeCorrectionRoll /= 2; |
} |
|
if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
{ |
AttitudeCorrectionPitch /= 2; |
AttitudeCorrectionRoll /= 2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
// deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
// deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
|
DebugOut.Analog[17] = IntegralAccPitch / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
DebugOut.Analog[21] = MeanIntegralPitch / 26; |
DebugOut.Analog[22] = MeanIntegralRoll / 26; |
//DebugOut.Analog[28] = CorrectionPitch; |
DebugOut.Analog[29] = CorrectionRoll; |
DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
|
DebugOut.Analog[17] = IntegralAccPitch / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
DebugOut.Analog[21] = MeanIntegralPitch / 26; |
DebugOut.Analog[22] = MeanIntegralRoll / 26; |
//DebugOut.Analog[28] = CorrectionPitch; |
DebugOut.Analog[29] = CorrectionRoll; |
DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
|
#define ERROR_LIMIT (BALANCE_NUMBER * 4) |
#define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
#define MOVEMENT_LIMIT 20000 |
// Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
CorrectionPitch = 0; |
if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
{ |
if(IntegralErrorPitch > ERROR_LIMIT2) |
#define ERROR_LIMIT (BALANCE_NUMBER * 4) |
#define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
#define MOVEMENT_LIMIT 20000 |
// Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
CorrectionPitch = 0; |
if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
{ |
if(last_n_p) |
if(IntegralErrorPitch > ERROR_LIMIT2) |
{ |
cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
if(last_n_p) |
{ |
cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
} |
else last_n_p = 1; |
} |
else last_n_p = 1; |
} |
else last_n_p = 0; |
if(IntegralErrorPitch < -ERROR_LIMIT2) |
{ |
if(last_n_n) |
else last_n_p = 0; |
if(IntegralErrorPitch < -ERROR_LIMIT2) |
{ |
cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
if(last_n_n) |
{ |
cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
} |
else last_n_n = 1; |
} |
else last_n_n = 1; |
else last_n_n = 0; |
} |
else last_n_n = 0; |
} |
else cnt = 0; |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
// correct Gyro Offsets |
if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
else cnt = 0; |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
// correct Gyro Offsets |
if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
|
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
CorrectionRoll = 0; |
if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
{ |
if(IntegralErrorRoll > ERROR_LIMIT2) |
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
CorrectionRoll = 0; |
if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
{ |
if(last_r_p) |
if(IntegralErrorRoll > ERROR_LIMIT2) |
{ |
cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
CorrectionRoll = IntegralErrorRoll / 8; |
if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
if(last_r_p) |
{ |
cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
CorrectionRoll = IntegralErrorRoll / 8; |
if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
} |
else last_r_p = 1; |
} |
else last_r_p = 1; |
} |
else last_r_p = 0; |
if(IntegralErrorRoll < -ERROR_LIMIT2) |
{ |
if(last_r_n) |
else last_r_p = 0; |
if(IntegralErrorRoll < -ERROR_LIMIT2) |
{ |
cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
CorrectionRoll = IntegralErrorRoll / 8; |
if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
if(last_r_n) |
{ |
cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
CorrectionRoll = IntegralErrorRoll / 8; |
if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
} |
else last_r_n = 1; |
} |
else last_r_n = 1; |
else last_r_n = 0; |
} |
else last_r_n = 0; |
else cnt = 0; |
// correct Gyro Offsets |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
|
DebugOut.Analog[27] = CorrectionRoll; |
DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
} |
else cnt = 0; |
// correct Gyro Offsets |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
else // looping is active |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
} |
|
DebugOut.Analog[27] = CorrectionRoll; |
DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
} |
else // looping is active |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
} |
// if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
if(!Gyro_I_Factor) |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MeanIntegralPitch_old = MeanIntegralPitch; |
MeanIntegralRoll_old = MeanIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// reset variables used for averaging |
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
MeasurementCounter = 0; |
} // end of averaging |
|
// if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
if(!Gyro_I_Factor) |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MeanIntegralPitch_old = MeanIntegralPitch; |
MeanIntegralRoll_old = MeanIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// reset variables used for averaging |
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
MeasurementCounter = 0; |
} // end of averaging |
|
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yawing |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MaxStickYaw > 20) // yaw stick is activated |
{ // if not fixed compass course is set update compass course |
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
} |
// exponential stick sensitivity in yawring rate |
tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
SetPointYaw = tmp_int; |
Reading_IntegralGyroYaw -= tmp_int; |
// limit the effect |
if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
if(MaxStickYaw > 20) // yaw stick is activated |
{ // if not fixed compass course is set update compass course |
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
} |
// exponential stick sensitivity in yawring rate |
tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
SetPointYaw = tmp_int; |
Reading_IntegralGyroYaw -= tmp_int; |
// limit the effect |
if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Compass |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
{ |
int16_t w,v; |
static uint8_t updCompass = 0; |
|
if (!updCompass--) |
if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
{ |
updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
// get current compass heading (angule between MK head and magnetic north) |
#ifdef USE_MM3 |
CompassHeading = MM3_Heading(); |
#endif |
#ifdef USE_CMPS03 |
CompassHeading = CMPS03_Heading(); |
#endif |
int16_t w,v; |
static uint8_t updCompass = 0; |
|
if (CompassHeading < 0) // no compass data available |
if (!updCompass--) |
{ |
CompassOffCourse = 0; |
if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
// get current compass heading (angule between MK head and magnetic north) |
#ifdef USE_MM3 |
CompassHeading = MM3_Heading(); |
#endif |
#ifdef USE_CMPS03 |
CompassHeading = CMPS03_Heading(); |
#endif |
|
if (CompassHeading < 0) // no compass data available |
{ |
CompassOffCourse = 0; |
if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
} |
else // calculate OffCourse (angular deviation from heading to course) |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
} |
else // calculate OffCourse (angular deviation from heading to course) |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
|
// reduce compass effect with increasing declination |
w = abs(IntegralPitch / 512); |
v = abs(IntegralRoll / 512); |
if(v > w) w = v; // get maximum declination |
// if declination is small enough update compass course if neccessary |
if(w < 35 && StoreNewCompassCourse) |
{ |
CompassCourse = CompassHeading; |
StoreNewCompassCourse = 0; |
} |
w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
{ |
Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
} |
} |
|
// reduce compass effect with increasing declination |
w = abs(IntegralPitch / 512); |
v = abs(IntegralRoll / 512); |
if(v > w) w = v; // get maximum declination |
// if declination is small enough update compass course if neccessary |
if(w < 35 && StoreNewCompassCourse) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// GPS |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((ParamSet.GlobalConfig & CFG_GPS_ACTIVE) && !EmergencyLanding) |
{ |
CompassCourse = CompassHeading; |
StoreNewCompassCourse = 0; |
GPS_P_Factor = FCParam.UserParam5; |
GPS_D_Factor = FCParam.UserParam6; |
GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
} |
w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
else |
{ |
Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
GPS_Neutral(); |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// GPS |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
{ |
GPS_P_Factor = FCParam.UserParam5; |
GPS_D_Factor = FCParam.UserParam6; |
if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
else GPS_Main(Poti3); |
} |
else |
{ |
GPS_Neutral(); |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!TimerDebugOut--) |
{ |
TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
DebugOut.Analog[2] = Mean_AccPitch; |
DebugOut.Analog[3] = Mean_AccRoll; |
DebugOut.Analog[4] = Reading_GyroYaw; |
DebugOut.Analog[5] = ReadingHeight; |
DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
DebugOut.Analog[8] = CompassHeading; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[16] = Mean_AccTop; |
if(!TimerDebugOut--) |
{ |
TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
DebugOut.Analog[2] = Mean_AccPitch; |
DebugOut.Analog[3] = Mean_AccRoll; |
DebugOut.Analog[4] = Reading_GyroYaw; |
DebugOut.Analog[5] = ReadingHeight; |
DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
DebugOut.Analog[8] = CompassHeading; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[16] = Mean_AccTop; |
|
/* DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
DebugOut.Analog[18] = motor_rx[2]; |
DebugOut.Analog[19] = motor_rx[3]; |
DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
DebugOut.Analog[20] /= 14; |
DebugOut.Analog[21] = motor_rx[4]; |
DebugOut.Analog[22] = motor_rx[5]; |
DebugOut.Analog[23] = motor_rx[6]; |
DebugOut.Analog[24] = motor_rx[7]; |
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
/* DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
DebugOut.Analog[18] = motor_rx[2]; |
DebugOut.Analog[19] = motor_rx[3]; |
DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
DebugOut.Analog[20] /= 14; |
DebugOut.Analog[21] = motor_rx[4]; |
DebugOut.Analog[22] = motor_rx[5]; |
DebugOut.Analog[23] = motor_rx[6]; |
DebugOut.Analog[24] = motor_rx[7]; |
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
|
DebugOut.Analog[9] = Reading_GyroPitch; |
DebugOut.Analog[9] = SetPointHeight; |
DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
DebugOut.Analog[11] = CompassCourse; |
DebugOut.Analog[10] = FCParam.Gyro_I; |
DebugOut.Analog[10] = ParamSet.Gyro_I; |
DebugOut.Analog[9] = CompassOffCourse; |
DebugOut.Analog[10] = ThrustMixFraction; |
DebugOut.Analog[3] = HeightD * 32; |
DebugOut.Analog[4] = HeightControlThrust; |
*/ |
} |
DebugOut.Analog[9] = Reading_GyroPitch; |
DebugOut.Analog[9] = SetPointHeight; |
DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
DebugOut.Analog[11] = CompassCourse; |
DebugOut.Analog[10] = FCParam.Gyro_I; |
DebugOut.Analog[10] = ParamSet.Gyro_I; |
DebugOut.Analog[9] = CompassOffCourse; |
DebugOut.Analog[10] = ThrustMixFraction; |
DebugOut.Analog[3] = HeightD * 32; |
DebugOut.Analog[4] = HeightControlThrust; |
*/ |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
|
DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
DebugOut.Analog[28] = Reading_GyroRoll; |
DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
DebugOut.Analog[28] = Reading_GyroRoll; |
|
// limit control feedback |
#define MAX_SENSOR 2048 |
if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
// limit control feedback |
#define MAX_SENSOR 2048 |
if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Height Control |
// The higth control algorithm reduces the thrust but does not increase the thrust. |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// If hight control is activated and no emergency landing is active |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
{ |
int tmp_int; |
// if hight control is activated by an rc channel |
if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
{ // check if parameter is less than activation threshold |
if(FCParam.MaxHeight < 50) |
// If hight control is activated and no emergency landing is active |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
{ |
int tmp_int; |
// if hight control is activated by an rc channel |
if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
{ // check if parameter is less than activation threshold |
if(FCParam.MaxHeight < 50) |
{ |
SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
HeightControlActive = 0; // disable hight control |
} |
else HeightControlActive = 1; // enable hight control |
} |
else // no switchable hight control |
{ |
SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
HeightControlActive = 0; // disable hight control |
SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
HeightControlActive = 1; |
} |
else HeightControlActive = 1; // enable hight control |
} |
else // no switchable hight control |
{ |
SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
HeightControlActive = 1; |
} |
// get current hight |
h = ReadingHeight; |
// if current hight is above the setpoint reduce thrust |
if((h > SetPointHeight) && HeightControlActive) |
{ |
// hight difference -> P control part |
h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
h = ThrustMixFraction - h; // reduce gas |
// higth gradient --> D control part |
h -= (HeightD * FCParam.Height_D) / 8; // D control part |
// acceleration sensor effect |
tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
if(tmp_int > 50) tmp_int = 50; |
if(tmp_int < -50) tmp_int = -50; |
h -= tmp_int; |
// update hight control thrust |
HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
// limit thrust reduction |
if(HeightControlThrust < ParamSet.Height_MinThrust) |
// get current hight |
h = ReadingHeight; |
// if current hight is above the setpoint reduce thrust |
if((h > SetPointHeight) && HeightControlActive) |
{ |
if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
// allows landing also if thrust stick is reduced below min thrust on hight control |
if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
// hight difference -> P control part |
h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
h = ThrustMixFraction - h; // reduce gas |
// higth gradient --> D control part |
h -= (HeightD * FCParam.Height_D) / 8; // D control part |
// acceleration sensor effect |
tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
if(tmp_int > 50) tmp_int = 50; |
if(tmp_int < -50) tmp_int = -50; |
h -= tmp_int; |
// update hight control thrust |
HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
// limit thrust reduction |
if(HeightControlThrust < ParamSet.Height_MinThrust) |
{ |
if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
// allows landing also if thrust stick is reduced below min thrust on hight control |
if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
} |
// limit thrust to stick setting |
if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
ThrustMixFraction = HeightControlThrust; |
} |
// limit thrust to stick setting |
if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
ThrustMixFraction = HeightControlThrust; |
} |
} |
// limit thrust to parameter setting |
if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
// limit thrust to parameter setting |
if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mixer and PI-Controller |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = ThrustMixFraction; |
DebugOut.Analog[7] = ThrustMixFraction; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yaw-Fraction |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |