76,12 → 76,12 |
|
volatile uint16_t I2CTimeout = 100; |
// gyro readings |
volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
// gyro neutral readings |
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
volatile int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
volatile int16_t StartNeutralRoll = 0, StartNeutralNick = 0; |
// mean accelerations |
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
|
// neutral acceleration readings |
volatile int16_t NeutralAccX=0, NeutralAccY=0; |
88,17 → 88,17 |
volatile float NeutralAccZ = 0; |
|
// attitude gyro integrals |
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
volatile int32_t IntegralNick = 0,IntegralNick2 = 0; |
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
volatile int32_t IntegralYaw = 0; |
volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
volatile int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0; |
volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
volatile int32_t Reading_IntegralGyroYaw = 0; |
volatile int32_t MeanIntegralPitch; |
volatile int32_t MeanIntegralNick; |
volatile int32_t MeanIntegralRoll; |
|
// attitude acceleration integrals |
volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
volatile int32_t IntegralAccNick = 0, IntegralAccRoll = 0; |
volatile int32_t Reading_Integral_Top = 0; |
|
// compass course |
112,7 → 112,7 |
int16_t YawGyroDrift; |
|
|
int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
|
|
// flags |
120,12 → 120,12 |
uint8_t EmergencyLanding = 0; |
uint16_t Model_Is_Flying = 0; |
|
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
|
float Gyro_P_Factor; |
float Gyro_I_Factor; |
|
volatile int16_t DiffPitch, DiffRoll; |
volatile int16_t DiffNick, DiffRoll; |
|
int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
|
137,12 → 137,12 |
#endif |
|
// stick values derived by rc channels readings |
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
int16_t GPS_Pitch = 0, GPS_Roll = 0; |
int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
int16_t GPS_Nick = 0, GPS_Roll = 0; |
|
int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
int16_t MaxStickNick = 0, MaxStickRoll = 0; |
// stick values derived by uart inputs |
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
|
|
|
150,11 → 150,11 |
int16_t ReadingHeight = 0; |
int16_t SetPointHeight = 0; |
|
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
|
float Ki = FACTOR_I; |
|
uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
uint8_t Looping_Nick = 0, Looping_Roll = 0; |
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
|
|
184,7 → 184,7 |
NeutralAccX = 0; |
NeutralAccY = 0; |
NeutralAccZ = 0; |
AdNeutralPitch = 0; |
AdNeutralNick = 0; |
AdNeutralRoll = 0; |
AdNeutralYaw = 0; |
FCParam.Yaw_PosFeedback = 0; |
196,29 → 196,29 |
{ |
if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
} |
AdNeutralPitch = AdValueGyrPitch; |
AdNeutralNick = AdValueGyrNick; |
AdNeutralRoll = AdValueGyrRoll; |
AdNeutralYaw = AdValueGyrYaw; |
StartNeutralRoll = AdNeutralRoll; |
StartNeutralPitch = AdNeutralPitch; |
if(GetParamWord(PID_ACC_PITCH) > 1023) |
StartNeutralNick = AdNeutralNick; |
if(GetParamWord(PID_ACC_NICK) > 1023) |
{ |
NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY; |
NeutralAccZ = Current_AccZ; |
} |
else |
{ |
NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
} |
Reading_IntegralGyroPitch = 0; |
Reading_IntegralGyroPitch2 = 0; |
Reading_IntegralGyroNick = 0; |
Reading_IntegralGyroNick2 = 0; |
Reading_IntegralGyroRoll = 0; |
Reading_IntegralGyroRoll2 = 0; |
Reading_IntegralGyroYaw = 0; |
Reading_GyroPitch = 0; |
Reading_GyroNick = 0; |
Reading_GyroRoll = 0; |
Reading_GyroYaw = 0; |
StartAirPressure = AirPressure; |
226,10 → 226,10 |
Reading_Integral_Top = 0; |
CompassCourse = CompassHeading; |
BeepTime = 50; |
TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
ExternHeightValue = 0; |
GPS_Pitch = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
YawGyroDrift = 0; |
245,19 → 245,19 |
// Get offset corrected gyro readings (~ to angular velocity) |
Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
|
// Acceleration Sensor |
// sliding average sensor readings |
Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
|
// sum sensor readings for later averaging |
IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
|
NaviAccPitch += AdValueAccPitch; |
NaviAccNick += AdValueAccNick; |
NaviAccRoll += AdValueAccRoll; |
NaviCntAcc++; |
|
270,9 → 270,9 |
|
|
// Coupling fraction |
if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
{ |
tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L; |
tmpl *= FCParam.Yaw_PosFeedback; |
tmpl /= 4096L; |
tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
309,32 → 309,32 |
if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
} |
// Pitch |
Reading_GyroPitch -= tmpl2; |
Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
// Nick |
Reading_GyroNick -= tmpl2; |
Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
Reading_IntegralGyroNick2 += Reading_GyroNick; |
Reading_IntegralGyroNick += Reading_GyroNick - AttitudeCorrectionNick; |
if(Reading_IntegralGyroNick > TurnOver180Nick) |
{ |
Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L); |
Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
} |
if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
if(Reading_IntegralGyroNick < -TurnOver180Nick) |
{ |
Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
Reading_IntegralGyroNick = (TurnOver180Nick - 25000L); |
Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
} |
if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
if(AdValueGyrNick < 15) Reading_GyroNick = -1000; |
if(AdValueGyrNick < 7) Reading_GyroNick = -2000; |
if(BoardRelease == 10) |
{ |
if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
if(AdValueGyrNick > 1010) Reading_GyroNick = +1000; |
if(AdValueGyrNick > 1017) Reading_GyroNick = +2000; |
} |
else |
{ |
if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
if(AdValueGyrNick > 2020) Reading_GyroNick = +1000; |
if(AdValueGyrNick > 2034) Reading_GyroNick = +2000; |
} |
|
// start ADC again to capture measurement values for the next loop |
341,15 → 341,15 |
ADC_Enable(); |
|
IntegralYaw = Reading_IntegralGyroYaw; |
IntegralPitch = Reading_IntegralGyroPitch; |
IntegralNick = Reading_IntegralGyroNick; |
IntegralRoll = Reading_IntegralGyroRoll; |
IntegralPitch2 = Reading_IntegralGyroPitch2; |
IntegralNick2 = Reading_IntegralGyroNick2; |
IntegralRoll2 = Reading_IntegralGyroRoll2; |
|
if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll) |
{ |
if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
if(Reading_GyroNick > 200) Reading_GyroNick += 4 * (Reading_GyroNick - 200); |
else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200); |
if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
} |
363,11 → 363,11 |
// stop ADC to avoid changing values during calculation |
ADC_Disable(); |
|
Reading_GyroPitch = AdValueGyrPitch; |
Reading_GyroNick = AdValueGyrNick; |
Reading_GyroRoll = AdValueGyrRoll; |
Reading_GyroYaw = AdValueGyrYaw; |
|
Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
Mean_AccTop = (int32_t)AdValueAccTop; |
// start ADC (enables internal trigger so that the ISR in analog.c |
374,7 → 374,7 |
// updates the readings once) |
ADC_Enable(); |
|
TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
} |
|
445,8 → 445,8 |
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.ServoNickControl,ParamSet.ServoNickControl,0,255); |
CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit,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); |
459,10 → 459,10 |
{ |
static uint8_t stick = 1; |
|
// if pitch is centered or top set stick to zero |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
// if pitch is down trigger to next cal state |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick) |
// if nick is centered or top set stick to zero |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
// if nick is down trigger to next cal state |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
{ |
stick = 1; |
CompassCalState++; |
479,27 → 479,27 |
void MotorControl(void) |
{ |
int16_t MotorValue, pd_result, h, tmp_int; |
int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction; |
static int32_t SumPitch = 0, SumRoll = 0; |
int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction; |
static int32_t SumNick = 0, SumRoll = 0; |
static int32_t SetPointYaw = 0; |
static int32_t IntegralErrorPitch = 0; |
static int32_t IntegralErrorNick = 0; |
static int32_t IntegralErrorRoll = 0; |
static uint16_t RcLostTimer; |
static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
static uint8_t HeightControlActive = 0; |
static int16_t HeightControlThrust = 0; |
static int16_t HeightControlGas = 0; |
static int8_t TimerDebugOut = 0; |
static uint16_t UpdateCompassCourse = 0; |
static int32_t CorrectionPitch, CorrectionRoll; |
static int32_t CorrectionNick, CorrectionRoll; |
|
Mean(); |
GRN_ON; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// determine thrust value |
// determine gas value |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
ThrustMixFraction = StickThrust; |
if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10; |
GasMixFraction = StickGas; |
if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// RC-signal is bad |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
522,13 → 522,13 |
ROT_ON; // set red led |
if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
EmergencyLanding = 1; // enable emergency landing |
// set neutral rc inputs |
PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
} |
542,14 → 542,14 |
{ |
EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
// reset emergency timer |
RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
if(ThrustMixFraction > 40) |
RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
if(GasMixFraction > 40) |
{ |
if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
} |
if(Model_Is_Flying < 256) |
{ |
SumPitch = 0; |
SumNick = 0; |
SumRoll = 0; |
StickYaw = 0; |
if(Model_Is_Flying == 250) UpdateCompassCourse = 1; |
575,8 → 575,9 |
if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
|
// if motors are off and the thrust stick is in the upper position |
if(MotorsOn == 0 && (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80)) |
|
// if motors are off and the gas stick is in the upper position |
if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorsOn == 0) |
{ |
// and if the yaw stick is in the leftmost position |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
584,7 → 585,7 |
// calibrate the neutral readings of all attitude sensors |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
{ |
// thrust/yaw joystick is top left |
// gas/yaw joystick is top left |
// _________ |
// |x | |
// | | |
597,13 → 598,13 |
delay_neutral = 0; |
GRN_OFF; |
Model_Is_Flying = 0; |
// check roll/pitch stick position |
// if pitch stick is top or roll stick is left or right --> 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) |
// check roll/nick stick position |
// if nick stick is top or roll stick is left or right --> change parameter setting |
// according to roll/nick stick position |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
{ |
uint8_t setting = 1; // default |
// pitch/roll joystick |
// nick/roll joystick |
// _________ |
// |2 3 4| |
// | | |
611,16 → 612,16 |
// | | |
// | | |
// ¯¯¯¯¯¯¯¯¯ |
// 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; |
// roll stick leftmost and nick stick centered --> setting 1 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
// roll stick leftmost and nick stick topmost --> setting 2 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
// roll stick centered an nick stick topmost --> setting 3 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
// roll stick rightmost and nick stick topmost --> setting 4 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
// roll stick rightmost and nick stick centered --> setting 5 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
// update active parameter set in eeprom |
SetActiveParamSet(setting); |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
631,10 → 632,10 |
{ |
if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
{ |
// if roll stick is centered and pitch stick is down |
if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) |
// if roll stick is centered and nick stick is down |
if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
{ |
// pitch/roll joystick |
// nick/roll joystick |
// _________ |
// | | |
// | | |
646,7 → 647,7 |
CompassCalState = 1; |
BeepTime = 1000; |
} |
else // pitch and roll are centered |
else // nick and roll are centered |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(); |
653,7 → 654,7 |
Beep(GetActiveParamSet()); |
} |
} |
else // pitch and roll are centered |
else // nick and roll are centered |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(); |
670,11 → 671,11 |
{ |
delay_neutral = 0; |
GRN_OFF; |
SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid |
Model_Is_Flying = 0; |
SetNeutral(); |
// Save ACC neutral settings to eeprom |
SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
Beep(GetActiveParamSet()); |
683,9 → 684,9 |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// thrust stick is down |
// gas stick is down |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// and yaw stick is rightmost --> start motors |
699,11 → 700,11 |
MotorsOn = 1; |
SetPointYaw = 0; |
Reading_IntegralGyroYaw = 0; |
Reading_IntegralGyroPitch = 0; |
Reading_IntegralGyroNick = 0; |
Reading_IntegralGyroRoll = 0; |
Reading_IntegralGyroPitch2 = IntegralPitch; |
Reading_IntegralGyroNick2 = IntegralNick; |
Reading_IntegralGyroRoll2 = IntegralRoll; |
SumPitch = 0; |
SumNick = 0; |
SumRoll = 0; |
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
744,17 → 745,17 |
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; |
StickPitch -= (GPS_Pitch); |
StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
StickNick -= (GPS_Nick); |
|
StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
StickRoll -= (GPS_Roll); |
|
// direct mapping of yaw and thrust |
// direct mapping of yaw and gas |
StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
|
// update gyro control loop factors |
Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
769,7 → 770,7 |
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; |
ExternStickNick = (ExternStickNick * 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; |
780,7 → 781,7 |
if(DubWiseKeys[0] & 2) ExternHeightValue++; |
if(DubWiseKeys[0] & 16) ExternHeightValue--; |
|
StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
StickNick += (STICK_GAIN * ExternStickNick) / 8; |
StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
StickYaw += (STICK_GAIN * ExternStickYaw); |
|
790,13 → 791,13 |
|
if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
{ |
StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
StickNick += (int16_t) ExternControl.Nick * (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; |
if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
} |
if(StickThrust < 0) StickThrust = 0; |
if(StickGas < 0) StickGas = 0; |
|
// disable I part of gyro control feedback |
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
805,10 → 806,10 |
if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
|
|
// update max stick positions for pitch and roll |
// update max stick positions for nick and roll |
|
if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
else MaxStickPitch--; |
if(abs(StickNick / STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick)/STICK_GAIN; |
else MaxStickNick--; |
if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
else MaxStickRoll--; |
|
833,32 → 834,31 |
} |
} |
|
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
else |
{ |
if(Looping_Top) // Hysteresis |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
else |
{ |
if(Looping_Down) // Hysteresis |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(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; |
if(Looping_Top || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0; |
} // End of new RC-Values or Emergency Landing |
|
|
if(Looping_Roll) BeepTime = 100; |
if(Looping_Roll || Looping_Pitch) |
if(Looping_Roll || Looping_Nick) |
{ |
if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
} |
|
|
876,13 → 876,13 |
if(EmergencyLanding) |
{ |
StickYaw = 0; |
StickPitch = 0; |
StickNick = 0; |
StickRoll = 0; |
Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
Looping_Roll = 0; |
Looping_Pitch = 0; |
MaxStickPitch = 0; |
Looping_Nick = 0; |
MaxStickNick = 0; |
MaxStickRoll = 0; |
} |
|
892,38 → 892,38 |
|
#define BALANCE_NUMBER 256L |
// sum for averaging |
MeanIntegralPitch += IntegralPitch; |
MeanIntegralNick += IntegralNick; |
MeanIntegralRoll += IntegralRoll; |
|
if(Looping_Pitch || Looping_Roll) // if looping in any direction |
if(Looping_Nick || 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; |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
|
MeanIntegralPitch = 0; |
MeanIntegralNick = 0; |
MeanIntegralRoll = 0; |
|
Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
|
AttitudeCorrectionPitch = 0; |
AttitudeCorrectionNick = 0; |
AttitudeCorrectionRoll = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
if(!Looping_Nick && !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.GyroAccFactor - (int32_t)Mean_AccPitch); |
tmp_long = (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick); |
tmp_long /= 16; |
tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
tmp_long2 /= 16; |
|
if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
if((MaxStickNick > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
941,7 → 941,7 |
if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
// correct current readings |
Reading_IntegralGyroPitch -= tmp_long; |
Reading_IntegralGyroNick -= tmp_long; |
Reading_IntegralGyroRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
950,25 → 950,25 |
{ |
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; |
static int32_t MeanIntegralNick_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 && !FunnelCourse) |
if(!Looping_Nick && !Looping_Roll && !FunnelCourse) |
{ |
// Calculate mean value of the gyro integrals |
MeanIntegralPitch /= BALANCE_NUMBER; |
MeanIntegralNick /= BALANCE_NUMBER; |
MeanIntegralRoll /= BALANCE_NUMBER; |
|
// Calculate mean of the acceleration values |
IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER; |
IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
|
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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; |
IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick); |
CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim; |
AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
975,9 → 975,9 |
CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
|
if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
if((MaxStickNick > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
{ |
AttitudeCorrectionPitch /= 2; |
AttitudeCorrectionNick /= 2; |
AttitudeCorrectionRoll /= 2; |
} |
|
984,10 → 984,10 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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) |
// deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
IntegralErrorNick = IntegralNick2 - IntegralNick; |
Reading_IntegralGyroNick2 -= IntegralErrorNick; |
// deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
|
995,13 → 995,13 |
if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
YawGyroDrift = 0; |
/* |
DebugOut.Analog[17] = IntegralAccPitch / 26; |
DebugOut.Analog[17] = IntegralAccNick / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
DebugOut.Analog[19] = IntegralErrorNick;// / 26; |
DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
DebugOut.Analog[21] = MeanIntegralPitch / 26; |
DebugOut.Analog[21] = MeanIntegralNick / 26; |
DebugOut.Analog[22] = MeanIntegralRoll / 26; |
//DebugOut.Analog[28] = CorrectionPitch; |
//DebugOut.Analog[28] = CorrectionNick; |
DebugOut.Analog[29] = CorrectionRoll; |
DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
*/ |
1009,31 → 1009,31 |
#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) |
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorNick) / 4096; |
CorrectionNick = 0; |
if(labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT) |
{ |
if(IntegralErrorPitch > ERROR_LIMIT2) |
if(IntegralErrorNick > ERROR_LIMIT2) |
{ |
if(last_n_p) |
{ |
cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
CorrectionNick = IntegralErrorNick / 8; |
if(CorrectionNick > 5000) CorrectionNick = 5000; |
AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
} |
else last_n_p = 1; |
} |
else last_n_p = 0; |
if(IntegralErrorPitch < -ERROR_LIMIT2) |
if(IntegralErrorNick < -ERROR_LIMIT2) |
{ |
if(last_n_n) |
{ |
cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
CorrectionNick = IntegralErrorNick / 8; |
if(CorrectionNick < -5000) CorrectionNick = -5000; |
AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
} |
else last_n_n = 1; |
} |
1046,11 → 1046,11 |
} |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
// correct Gyro Offsets |
if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
if(IntegralErrorNick > ERROR_LIMIT) AdNeutralNick += cnt; |
if(IntegralErrorNick < -ERROR_LIMIT) AdNeutralNick -= cnt; |
|
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
cnt = 1;// + labs(IntegralErrorNick) / 4096; |
CorrectionRoll = 0; |
if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
{ |
1090,7 → 1090,7 |
if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
/* |
DebugOut.Analog[27] = CorrectionRoll; |
DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
*/ |
} |
1097,7 → 1097,7 |
else // looping is active |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
AttitudeCorrectionNick = 0; |
FunnelCourse = 0; |
} |
|
1105,16 → 1105,16 |
if(!Gyro_I_Factor) |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
AttitudeCorrectionNick = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MeanIntegralPitch_old = MeanIntegralPitch; |
MeanIntegralNick_old = MeanIntegralNick; |
MeanIntegralRoll_old = MeanIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// reset variables used for averaging |
IntegralAccPitch = 0; |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
MeanIntegralPitch = 0; |
MeanIntegralNick = 0; |
MeanIntegralRoll = 0; |
MeasurementCounter = 0; |
} // end of averaging |
1169,7 → 1169,7 |
#endif |
|
// get maximum attitude angle |
w = abs(IntegralPitch/512); |
w = abs(IntegralNick/512); |
v = abs(IntegralRoll /512); |
if(v > w) w = v; |
// update compass course |
1195,7 → 1195,7 |
else |
{ // |
YawGyroDrift += error; |
v = 64 + (MaxStickPitch + MaxStickRoll) / 8; |
v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
// calc course deviation |
r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
v = (r * w) / v; // align to compass course |
1227,7 → 1227,7 |
} |
else |
{ |
GPS_Pitch = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
#endif |
1238,9 → 1238,9 |
if(!TimerDebugOut--) |
{ |
TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFactor; |
DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
DebugOut.Analog[2] = Mean_AccPitch; |
DebugOut.Analog[2] = Mean_AccNick; |
DebugOut.Analog[3] = Mean_AccRoll; |
DebugOut.Analog[4] = Reading_GyroYaw; |
DebugOut.Analog[5] = ReadingHeight; |
1255,7 → 1255,7 |
DebugOut.Analog[12] = Motor_RearLeft; |
DebugOut.Analog[13] = Motor_RearRight; |
DebugOut.Analog[14] = Motor_Left; |
DebugOut.Analog[15] = Motor_Right; |
DebugOut.Analog[15] = Motor_Right; |
#else |
DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
|
1263,7 → 1263,7 |
DebugOut.Analog[13] = Motor_Rear; |
DebugOut.Analog[14] = Motor_Left; |
DebugOut.Analog[15] = Motor_Right; |
#endif |
#endif |
|
DebugOut.Analog[16] = Mean_AccTop; |
|
1271,7 → 1271,7 |
|
|
|
DebugOut.Analog[30] = GPS_Pitch; |
DebugOut.Analog[30] = GPS_Nick; |
DebugOut.Analog[31] = GPS_Roll; |
|
/* DebugOut.Analog[16] = motor_rx[0]; |
1286,7 → 1286,7 |
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] = Reading_GyroNick; |
DebugOut.Analog[9] = SetPointHeight; |
DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
|
1293,9 → 1293,9 |
DebugOut.Analog[10] = FCParam.Gyro_I; |
DebugOut.Analog[10] = ParamSet.Gyro_I; |
DebugOut.Analog[9] = CompassOffCourse; |
DebugOut.Analog[10] = ThrustMixFraction; |
DebugOut.Analog[10] = GasMixFraction; |
DebugOut.Analog[3] = HeightD * 32; |
DebugOut.Analog[4] = HeightControlThrust; |
DebugOut.Analog[4] = HeightControlGas; |
*/ |
} |
|
1303,30 → 1303,30 |
// 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_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor; |
else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * 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[21] = Reading_GyroPitch; |
DebugOut.Analog[21] = Reading_GyroNick; |
DebugOut.Analog[22] = Reading_GyroRoll; |
|
// limit control feedback |
#define MAX_SENSOR (4096 * STICK_GAIN) |
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; |
if(Reading_GyroNick > MAX_SENSOR) Reading_GyroNick = MAX_SENSOR; |
if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -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 height control algorithm reduces the thrust but does not increase the thrust. |
// The height control algorithm reduces the gas but does not increase the gas. |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
ThrustMixFraction *= STICK_GAIN; |
GasMixFraction *= STICK_GAIN; |
|
// If height control is activated and no emergency landing is active |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1349,13 → 1349,13 |
} |
// get current height |
h = ReadingHeight; |
// if current height is above the setpoint reduce thrust |
// if current height is above the setpoint reduce gas |
if((h > SetPointHeight) && HeightControlActive) |
{ |
// ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
// GasMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
// height difference -> P control part |
h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
h = ThrustMixFraction - h; // reduce gas |
h = GasMixFraction - h; // reduce gas |
// height gradient --> D control part |
//h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1364,61 → 1364,61 |
if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
h -= tmp_int; |
// update height control thrust |
HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
// limit thrust reduction |
if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN) |
// update height control gas |
HeightControlGas = (HeightControlGas*15 + h) / 16; |
// limit gas reduction |
if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN) |
{ |
if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN; |
// allows landing also if thrust stick is reduced below min thrust on height control |
if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction; |
if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN; |
// allows landing also if gas stick is reduced below min gas on height control |
if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
} |
// limit thrust to stick setting |
if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
ThrustMixFraction = HeightControlThrust; |
// limit gas to stick setting |
if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
GasMixFraction = HeightControlGas; |
} |
} |
// limit thrust to parameter setting |
if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN; |
// limit gas to parameter setting |
if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mixer and PI-Controller |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = ThrustMixFraction; |
DebugOut.Analog[7] = GasMixFraction; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yaw-Fraction |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
#define MIN_YAWTHRUST (40 * STICK_GAIN) // yaw also below this thrust value |
#define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
// limit YawMixFraction |
if(ThrustMixFraction > MIN_YAWTHRUST) |
if(GasMixFraction > MIN_YAWGAS) |
{ |
if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
if(YawMixFraction > (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2; |
if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2); |
} |
else |
{ |
if(YawMixFraction > (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2; |
if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2); |
if(YawMixFraction > (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2; |
if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2); |
} |
tmp_int = ParamSet.Trust_Max * STICK_GAIN; |
if(YawMixFraction > ((tmp_int - ThrustMixFraction))) YawMixFraction = ((tmp_int - ThrustMixFraction)); |
if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction)); |
tmp_int = ParamSet.Gas_Max * STICK_GAIN; |
if(YawMixFraction > ((tmp_int - GasMixFraction))) YawMixFraction = ((tmp_int - GasMixFraction)); |
if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction)); |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Pitch-Axis |
// Nick-Axis |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffPitch = Reading_GyroPitch - StickPitch; // get difference |
if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control |
else SumPitch += DiffPitch; // I-part for head holding |
if(SumPitch > (STICK_GAIN * 16000L)) SumPitch = (STICK_GAIN * 16000L); |
if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L); |
pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
DiffNick = Reading_GyroNick - StickNick; // get difference |
if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control |
else SumNick += DiffNick; // I-part for head holding |
if(SumNick > (STICK_GAIN * 16000L)) SumNick = (STICK_GAIN * 16000L); |
if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L); |
pd_result = DiffNick + Ki * SumNick; // PI-controller for nick |
|
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
if(pd_result > tmp_int) pd_result = tmp_int; |
if(pd_result < -tmp_int) pd_result = -tmp_int; |
|
PitchMixFraction = pd_result; |
NickMixFraction = pd_result; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Roll-Axis |
1429,7 → 1429,7 |
if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
if(pd_result > tmp_int) pd_result = tmp_int; |
if(pd_result < -tmp_int) pd_result = -tmp_int; |
|
1438,99 → 1438,96 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate Motor Mixes |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
|
#ifdef HEXAKOPTER |
// Motor FrontLeft |
MotorValue = ThrustMixFraction |
+ PitchMixFraction |
MotorValue = GasMixFraction |
+ NickMixFraction |
+ RollMixFraction/2 |
- YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_FrontLeft = MotorValue; |
|
// Motor FrontRight |
MotorValue = ThrustMixFraction |
+ PitchMixFraction |
MotorValue = GasMixFraction |
+ NickMixFraction |
- RollMixFraction/2 |
+ YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_FrontRight = MotorValue; |
|
// Motor RearLeft |
MotorValue = ThrustMixFraction |
- PitchMixFraction |
MotorValue = GasMixFraction |
- NickMixFraction |
+ RollMixFraction/2 |
- YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_RearLeft = MotorValue; |
|
// Motor RearRight |
MotorValue = ThrustMixFraction |
- PitchMixFraction |
MotorValue = GasMixFraction |
- NickMixFraction |
- RollMixFraction/2 |
+ YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_RearRight= MotorValue; |
|
|
// Motor Left |
MotorValue = ThrustMixFraction |
MotorValue = GasMixFraction |
+ RollMixFraction |
+ YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_Left = MotorValue; |
|
// Motor Right |
MotorValue = ThrustMixFraction |
MotorValue = GasMixFraction |
- RollMixFraction |
- YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_Right = MotorValue; |
|
#else |
|
// Motor Front |
MotorValue = ThrustMixFraction + PitchMixFraction + YawMixFraction; // Mixer |
MotorValue = GasMixFraction + NickMixFraction + YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_Front = MotorValue; |
|
// Motor Rear |
MotorValue = ThrustMixFraction - PitchMixFraction + YawMixFraction; // Mixer |
MotorValue = GasMixFraction - NickMixFraction + YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_Rear = MotorValue; |
|
|
// Motor Left |
MotorValue = ThrustMixFraction + RollMixFraction - YawMixFraction; // Mixer |
MotorValue = GasMixFraction + RollMixFraction - YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_Left = MotorValue; |
|
|
// Motor Right |
MotorValue = ThrustMixFraction - RollMixFraction - YawMixFraction; // Mixer |
MotorValue = GasMixFraction - RollMixFraction - YawMixFraction; // Mixer |
MotorValue /= STICK_GAIN; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
Motor_Right = MotorValue; |
#endif |
} |