| 0,0 → 1,1311 |
|---|
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| //ʲôÒÀÏ¡ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| |
| #include "main.h" |
| #include "eeprom.h" |
| #include "timer0.h" |
| #include "_Settings.h" |
| #include "analog.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "twimaster.h" |
| #ifdef USE_MM3 |
| #include "mm3.h" |
| #endif |
| #ifdef USE_CMPS03 |
| #include "cmps03.h" |
| #endif |
| #include "led.h" |
| |
| volatile uint16_t I2CTimeout = 100; |
| // gyro readings |
| volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| // gyro neutral readings |
| volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
| volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
| // mean accelerations |
| volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| |
| // neutral acceleration readings |
| volatile int16_t NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| |
| // attitude gyro integrals |
| volatile int32_t IntegralPitch = 0,IntegralPitch2 = 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_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
| volatile int32_t Reading_IntegralGyroYaw = 0; |
| volatile int32_t MeanIntegralPitch; |
| volatile int32_t MeanIntegralRoll; |
| |
| // attitude acceleration integrals |
| volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
| volatile int32_t Reading_Integral_Top = 0; |
| |
| // compass course |
| volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
| volatile int16_t CompassCourse = -1; |
| volatile int16_t CompassOffCourse = 0; |
| |
| // flags |
| uint8_t MotorsOn = 0; |
| uint8_t EmergencyLanding = 0; |
| |
| int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
| |
| float Gyro_P_Factor; |
| float Gyro_I_Factor; |
| |
| volatile int16_t DiffPitch, DiffRoll; |
| |
| int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| |
| // setpoints for motors |
| volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; |
| |
| // stick values derived by rc channels readings |
| int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
| int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
| // stick values derived by uart inputs |
| int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
| |
| |
| |
| |
| int16_t ReadingHeight = 0; |
| int16_t SetPointHeight = 0; |
| |
| int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
| |
| float Ki = FACTOR_I; |
| |
| uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
| uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
| |
| |
| fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
| |
| |
| /************************************************************************/ |
| /* Creates numbeeps beeps at the speaker */ |
| /************************************************************************/ |
| void Beep(uint8_t numbeeps) |
| { |
| while(numbeeps--) |
| { |
| if(MotorsOn) return; //auf keinen Fall im Flug! |
| BeepTime = 100; // 0.1 second |
| Delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this funktion if motors are running |
| } |
| } |
| |
| /************************************************************************/ |
| /* Neutral Readings */ |
| /************************************************************************/ |
| void SetNeutral(void) |
| { |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralPitch = 0; |
| AdNeutralRoll = 0; |
| AdNeutralYaw = 0; |
| FCParam.Yaw_PosFeedback = 0; |
| FCParam.Yaw_NegFeedback = 0; |
| CalibMean(); |
| Delay_ms_Mess(100); |
| CalibMean(); |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
| { |
| if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| } |
| AdNeutralPitch = AdValueGyrPitch; |
| AdNeutralRoll = AdValueGyrRoll; |
| AdNeutralYaw = AdValueGyrYaw; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralPitch = AdNeutralPitch; |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
| NeutralAccZ = Current_AccZ; |
| } |
| else |
| { |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
| } |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroPitch2 = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroRoll2 = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_GyroPitch = 0; |
| Reading_GyroRoll = 0; |
| Reading_GyroYaw = 0; |
| StartAirPressure = AirPressure; |
| HeightD = 0; |
| Reading_Integral_Top = 0; |
| CompassCourse = CompassHeading; |
| BeepTime = 50; |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| ExternHeightValue = 0; |
| GPS_Neutral(); |
| } |
| |
| /************************************************************************/ |
| /* Averaging Measurement Readings */ |
| /************************************************************************/ |
| void Mean(void) |
| { |
| static int32_t tmpl,tmpl2; |
| |
| // Get offset corrected gyro readings (~ to angular velocity) |
| Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
| |
| DebugOut.Analog[26] = Reading_GyroPitch; |
| DebugOut.Analog[28] = Reading_GyroRoll; |
| |
| // Acceleration Sensor |
| // sliding average sensor readings |
| Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 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; |
| IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
| |
| // Yaw |
| // calculate yaw gyro intergral (~ to rotation angle) |
| Reading_IntegralGyroYaw += Reading_GyroYaw; |
| // Coupling fraction |
| if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
| { |
| tmpl = Reading_IntegralGyroPitch / 4096L; |
| tmpl *= Reading_GyroYaw; |
| tmpl *= FCParam.Yaw_PosFeedback; //125 |
| tmpl /= 2048L; |
| tmpl2 = Reading_IntegralGyroRoll / 4096L; |
| tmpl2 *= Reading_GyroYaw; |
| tmpl2 *= FCParam.Yaw_PosFeedback; |
| tmpl2 /= 2048L; |
| } |
| else tmpl = tmpl2 = 0; |
| |
| // Roll |
| Reading_GyroRoll += tmpl; |
| Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
| Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
| if(Reading_IntegralGyroRoll > TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
| if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
| } |
| else |
| { |
| 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) |
| { |
| Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
| if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
| } |
| else |
| { |
| if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
| } |
| |
| // start ADC again to capture measurement values for the next loop |
| ADC_Enable(); |
| |
| IntegralYaw = Reading_IntegralGyroYaw; |
| IntegralPitch = Reading_IntegralGyroPitch; |
| IntegralRoll = Reading_IntegralGyroRoll; |
| IntegralPitch2 = Reading_IntegralGyroPitch2; |
| IntegralRoll2 = Reading_IntegralGyroRoll2; |
| |
| if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !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_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
| else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
| } |
| } |
| |
| /************************************************************************/ |
| /* Averaging Measurement Readings for Calibration */ |
| /************************************************************************/ |
| void CalibMean(void) |
| { |
| // stop ADC to avoid changing values during calculation |
| ADC_Disable(); |
| |
| Reading_GyroPitch = AdValueGyrPitch; |
| Reading_GyroRoll = AdValueGyrRoll; |
| Reading_GyroYaw = AdValueGyrYaw; |
| |
| Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
| Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
| Mean_AccTop = (int32_t)AdValueAccTop; |
| // start ADC (enables internal trigger so that the ISR in analog.c |
| // updates the readings once) |
| ADC_Enable(); |
| |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| } |
| |
| /************************************************************************/ |
| /* Transmit Motor Data via I2C */ |
| /************************************************************************/ |
| void SendMotorData(void) |
| { |
| if(MOTOR_OFF || !MotorsOn) |
| { |
| Motor_RearLeft = 0; |
| Motor_RearRight = 0; |
| Motor_FrontLeft = 0; |
| Motor_FrontRight = 0; |
| Motor_Right = 0; |
| Motor_Left = 0; |
| if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0]; |
| if(MotorTest[1]) Motor_RearLeft = Motor_RearRight = MotorTest[1]; |
| if(MotorTest[2]) Motor_Left = MotorTest[2]; |
| if(MotorTest[3]) Motor_Right = MotorTest[3]; |
| } |
| |
| DebugOut.Analog[12] = Motor_FrontLeft; |
| DebugOut.Analog[13] = Motor_RearRight; |
| DebugOut.Analog[14] = Motor_FrontRight; |
| DebugOut.Analog[15] = Motor_RearLeft; |
| DebugOut.Analog[16] = Motor_Left; |
| DebugOut.Analog[17] = Motor_Right; |
| |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| I2C_Start(); |
| } |
| |
| |
| |
| /************************************************************************/ |
| /* Maps the parameter to poti values */ |
| /************************************************************************/ |
| void ParameterMapping(void) |
| { |
| if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
| // else the last updated values are used |
| { |
| //update poti values by rc-signals |
| #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; |
| } |
| } |
| |
| |
| /************************************************************************/ |
| /* MotorControl */ |
| /************************************************************************/ |
| void MotorControl(void) |
| { |
| int16_t MotorValue, pd_result, h, tmp_int; |
| int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction; |
| 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 Model_Is_Flying = 0; |
| static uint8_t HeightControlActive = 0; |
| static int16_t HeightControlThrust = 0; |
| static int8_t TimerDebugOut = 0; |
| static uint16_t UpdateCompassCourse = 0; |
| static int32_t CorrectionPitch, CorrectionRoll; |
| |
| Mean(); |
| GRN_ON; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // determine thrust value |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ThrustMixFraction = StickThrust; |
| if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is bad |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
| { |
| if(!PcAccess) // if also no PC-Access via UART |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
| else // rc lost countdown finished |
| { |
| MotorsOn = 0; // stop all motors |
| EmergencyLanding = 0; // emergency landing is over |
| } |
| ROT_ON; // set red led |
| if(Model_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
| EmergencyLanding = 1; // enable emergency landing |
| // set neutral rc inputs |
| PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 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_ROLL]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| } |
| else MotorsOn = 0; // switch of all motors |
| } // eof RC_Quality < 120 |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is good |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality > 150) |
| { |
| EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
| // reset emergency timer |
| RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
| if(ThrustMixFraction > 40) |
| { |
| if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
| } |
| if((Model_Is_Flying < 200) || (ThrustMixFraction < 40)) |
| { |
| SumPitch = 0; |
| SumRoll = 0; |
| Reading_IntegralGyroYaw = 0; |
| } |
| |
| if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| 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; |
| |
| // if motors are off and the thrust stick is in the upper position |
| if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
| { |
| // and if the yaw stick is in the leftmost position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calibrate the neutral readings of all attitude sensors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| { |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| Model_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()); |
| } |
| } |
| // 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) |
| { |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| SetParamWord(PID_ACC_PITCH, 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_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // thrust stick is down |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is rightmost --> start motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_startmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 1; |
| MotorsOn = 1; |
| SetPointYaw = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroPitch2 = IntegralPitch; |
| Reading_IntegralGyroRoll2 = IntegralRoll; |
| SumPitch = 0; |
| SumRoll = 0; |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_SetHomePosition(); |
| } |
| } |
| } |
| else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is leftmost --> stop motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| { |
| if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_stopmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 0; |
| MotorsOn = 0; |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| 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 RC_Quality > 150 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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; |
| |
| // 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 max stick positions for pitch and roll |
| 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--; |
| |
| // 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; |
| |
| 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; |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ 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; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| else |
| { |
| if(Looping_Left) // Hysteresis |
| { |
| 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) // Hysteresis |
| { |
| 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) // Hysteresis |
| { |
| 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) // Hysteresis |
| { |
| 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_Roll) BeepTime = 100; |
| if(Looping_Roll || Looping_Pitch) |
| { |
| if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
| } |
| |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ LED Control on J16/J17 |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_Time = FCParam.UserParam7; |
| LED2_Time = 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; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Trim Gyro-Integrals to ACC-Signals |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #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; |
| |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| |
| 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.GyroAccFactor - (int32_t)Mean_AccPitch); |
| tmp_long /= 16; |
| tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
| tmp_long2 /= 16; |
| |
| if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if 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; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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; |
| |
| // Calculate mean of the acceleration values |
| IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
| IntegralAccRoll = (ParamSet.GyroAccFactor * 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; |
| |
| if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 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; |
| |
| |
| // 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) |
| { |
| 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 = 0; |
| if(IntegralErrorPitch < -ERROR_LIMIT2) |
| { |
| 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 = 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; |
| |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionRoll = 0; |
| if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorRoll > ERROR_LIMIT2) |
| { |
| 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 = 0; |
| if(IntegralErrorRoll < -ERROR_LIMIT2) |
| { |
| 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 = 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 // looping is active |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| } |
| |
| // if Gyro_I_Factor == 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(abs(StickYaw) > 20 ) // yaw stick is activated |
| { |
| if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) UpdateCompassCourse = 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; |
| // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
| Reading_IntegralGyroYaw -= tmp_int; |
| // limit the effect |
| if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
| if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Compass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // compass code is used if Compass option or GPS option is selected |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| { |
| static uint8_t updCompass = 0; |
| int16_t w,v; |
| |
| if (!updCompass--) |
| { |
| updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
| // get current compass heading (angle between MK head and magnetic north) |
| #ifdef USE_MM3 |
| CompassHeading = MM3_Heading(); |
| #endif |
| #ifdef USE_CMPS03 |
| CompassHeading = CMPS03_Heading(); |
| #endif |
| if (CompassHeading < 0) CompassOffCourse = 0; // disable gyro compass correction on bad compass data |
| else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; // calc course deviation |
| } |
| |
| // get maximum attitude angle |
| w = abs(IntegralPitch/512); |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; |
| if (w < 25) |
| { |
| if(UpdateCompassCourse) |
| { |
| UpdateCompassCourse = 0; |
| CompassCourse = CompassHeading; |
| CompassOffCourse = 0; |
| } |
| w = (w * FCParam.CompassYawEffect) / 64; |
| w = FCParam.CompassYawEffect - w; |
| if(w > 0) Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_I_Factor = FCParam.UserParam2; |
| GPS_P_Factor = FCParam.UserParam5; |
| GPS_D_Factor = FCParam.UserParam6; |
| if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
| else GPS_Main(Poti3); // behavior controlled by Poti3 |
| } |
| else |
| { |
| GPS_Neutral(); |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerDebugOut--) |
| { |
| TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
| DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
| DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
| 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] = RC_Quality; |
| //DebugOut.Analog[11] = RC_Quality; |
| //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[9] = Reading_GyroPitch; |
| DebugOut.Analog[9] = SetPointHeight; |
| DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| |
| 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; |
| |
| 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; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Height Control |
| // The height control algorithm reduces the thrust but does not increase the thrust. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // If height control is activated and no emergency landing is active |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
| { |
| int tmp_int; |
| // if height 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 height control |
| } |
| else HeightControlActive = 1; // enable height control |
| } |
| else // no switchable height control |
| { |
| SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
| HeightControlActive = 1; |
| } |
| // get current height |
| h = ReadingHeight; |
| // if current height is above the setpoint reduce thrust |
| if((h > SetPointHeight) && HeightControlActive) |
| { |
| // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
| // height difference -> P control part |
| h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
| h = ThrustMixFraction - h; // reduce gas |
| // height 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 height 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 height control |
| if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
| } |
| // 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; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mixer and PI-Controller |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| DebugOut.Analog[7] = ThrustMixFraction; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw-Fraction |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
| |
| // limit YawMixFraction |
| if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
| if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
| if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
| if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
| if(ThrustMixFraction < 20) YawMixFraction = 0; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Pitch-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
| if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
| else SumPitch += DiffPitch; // I-part for head holding |
| if(SumPitch > 16000) SumPitch = 16000; |
| if(SumPitch < -16000) SumPitch = -16000; |
| pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
| |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + 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; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
| if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
| else SumRoll += DiffRoll; // I-part for head holding |
| if(SumRoll > 16000) SumRoll = 16000; |
| if(SumRoll < -16000) SumRoll = -16000; |
| pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| |
| RollMixFraction = pd_result; |
| |
| // Calculate Motor Mixes |
| |
| // Motor FrontLeft |
| MotorValue = ThrustMixFraction |
| + PitchMixFraction |
| + RollMixFraction/2 |
| - YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_FrontLeft = MotorValue; |
| |
| // Motor FrontRight |
| MotorValue = ThrustMixFraction |
| + PitchMixFraction |
| - RollMixFraction/2 |
| + YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_FrontRight = MotorValue; |
| |
| // Motor RearLeft |
| MotorValue = ThrustMixFraction |
| - PitchMixFraction |
| + RollMixFraction/2 |
| - YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_RearLeft = MotorValue; |
| // Motor RearRight |
| MotorValue = ThrustMixFraction |
| - PitchMixFraction |
| - RollMixFraction/2 |
| + YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_RearRight= MotorValue; |
| |
| // Motor Left |
| MotorValue = ThrustMixFraction |
| + RollMixFraction |
| + YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Left = MotorValue; |
| |
| // Motor Right |
| MotorValue = ThrustMixFraction |
| - RollMixFraction |
| - YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Right = MotorValue; |
| } |
| |