0,0 → 1,1259 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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 |
|
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, Reading_IntegralGyroYaw2 = 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; |
|
// setpoints for motors |
volatile uint8_t Motor_Front, Motor_Rear, 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, MaxStickYaw = 0; |
// stick values derived by uart inputs |
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
|
|
|
|
int16_t ReadingHight = 0; |
int16_t SetPointHight = 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)) // Hight 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; |
HightD = 0; |
Reading_Integral_Top = 0; |
CompassCourse = CompassHeading; |
BeepTime = 50; |
TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
ExternHightValue = 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; |
Reading_IntegralGyroYaw2 += 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; //109 |
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 |
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); |
} |
//update poti values by rc-signals |
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--; |
//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; |
} |
|
/************************************************************************/ |
/* 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(); |
//update poti values by rc-signals |
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--; |
//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; |
|
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_Rear = 0; |
Motor_Front = 0; |
Motor_Right = 0; |
Motor_Left = 0; |
if(MotorTest[0]) Motor_Front = MotorTest[0]; |
if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
if(MotorTest[2]) Motor_Left = MotorTest[2]; |
if(MotorTest[3]) Motor_Right = MotorTest[3]; |
} |
|
//DebugOut.Analog[12] = Motor_Front; |
//DebugOut.Analog[13] = Motor_Rear; |
//DebugOut.Analog[14] = Motor_Left; |
//DebugOut.Analog[15] = Motor_Right; |
|
//Start I2C Interrupt Mode |
twi_state = 0; |
motor = 0; |
I2C_Start(); |
} |
|
|
|
/************************************************************************/ |
/* Maps the parameter to poti values */ |
/************************************************************************/ |
void ParameterMapping(void) |
{ |
|
#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.MaxHight,ParamSet.MaxHight,0,255); |
CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_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; |
static int32_t SumPitch = 0, SumRoll = 0; |
static int32_t SetPointYaw = 0; |
static int32_t IntegralErrorPitch = 0; |
static int32_t IntegralErrorRoll = 0; |
static uint16_t RcLostTimer; |
static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
static uint16_t Modell_Is_Flying = 0; |
static uint8_t HightControlActive = 0; |
static int16_t HightControlThrust = 0; |
static int8_t TimerDebugOut = 0; |
static int8_t StoreNewCompassCourse = 0; |
static int32_t CorrectionPitch, CorrectionRoll; |
|
Mean(); |
|
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// determine thrust value |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
ThrustMixFraction = StickThrust; |
if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// RC-signal is bad |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
// of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
// the main loop is running 11 times that decrements the SenderOkay by 11. |
if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
{ |
if(!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(Modell_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_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 |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// RC-signal is good |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
// reset emergency timer |
RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
if(ThrustMixFraction > 40) |
{ |
if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
} |
if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
{ |
SumPitch = 0; |
SumRoll = 0; |
Reading_IntegralGyroYaw = 0; |
Reading_IntegralGyroYaw2 = 0; |
} |
// 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; |
Modell_Is_Flying = 0; |
// check roll/pitch stick position |
// if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
// according to roll/pitch stick position |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
{ |
uint8_t setting = 1; // default |
// _________ |
// |2 3 4| |
// | | |
// |1 5| |
// | | |
// |_________| |
// |
// roll stick leftmost and pitch stick centered --> setting 1 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
// roll stick leftmost and pitch stick topmost --> setting 2 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
// roll stick centered an pitch stick topmost --> setting 3 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
// roll stick rightmost and pitch stick topmost --> setting 4 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
// roll stick rightmost and pitch stick centered --> setting 5 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
// update active parameter set in eeprom |
SetActiveParamSet(setting); |
} |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(); |
Beep(GetActiveParamSet()); |
} |
} |
// 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 |
Modell_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 |
Modell_Is_Flying = 1; |
MotorsOn = 1; |
SetPointYaw = 0; |
Reading_IntegralGyroYaw = 0; |
Reading_IntegralGyroYaw2 = 0; |
Reading_IntegralGyroPitch = 0; |
Reading_IntegralGyroRoll = 0; |
Reading_IntegralGyroPitch2 = IntegralPitch; |
Reading_IntegralGyroRoll2 = IntegralRoll; |
SumPitch = 0; |
SumRoll = 0; |
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 |
Modell_Is_Flying = 0; |
MotorsOn = 0; |
|
} |
} |
else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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, roll and yaw |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
else MaxStickPitch--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
else MaxStickRoll--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
else MaxStickYaw--; |
|
// 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) ExternHightValue++; |
if(DubWiseKeys[0] & 16) ExternHightValue--; |
|
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; |
ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
} |
// disable I part of gyro control feedback |
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
// avoid negative scaling factors |
if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
else |
{ |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
else |
{ |
if(Looping_Right) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
} |
} |
|
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
else |
{ |
if(Looping_Top) // Hysterese |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
else |
{ |
if(Looping_Down) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
} |
} |
|
if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
} // End of new RC-Values or Emergency Landing |
|
|
if(Looping_Roll) BeepTime = 100; |
if(Looping_Roll || Looping_Pitch) |
{ |
if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// in case of emergency landing |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// set all inputs to save values |
if(EmergencyLanding) |
{ |
StickYaw = 0; |
StickPitch = 0; |
StickRoll = 0; |
Gyro_P_Factor = 0.5; |
Gyro_I_Factor = 0.003; |
Looping_Roll = 0; |
Looping_Pitch = 0; |
MaxStickPitch = 0; |
MaxStickRoll = 0; |
MaxStickYaw = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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.GyroAccFaktor - (int32_t)Mean_AccPitch); |
tmp_long /= 16; |
tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
tmp_long2 /= 16; |
|
if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(MaxStickYaw > 25) // reduce further is yaw stick is active |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
|
#define BALANCE 32 |
// limit correction effect |
if(tmp_long > BALANCE) tmp_long = BALANCE; |
if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
// correct current readings |
Reading_IntegralGyroPitch -= tmp_long; |
Reading_IntegralGyroRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
|
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
|
if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
{ |
AttitudeCorrectionPitch /= 2; |
AttitudeCorrectionRoll /= 2; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
// deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
|
|
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_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
if(!Gyro_I_Factor) |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MeanIntegralPitch_old = MeanIntegralPitch; |
MeanIntegralRoll_old = MeanIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// reset variables used for averaging |
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
MeasurementCounter = 0; |
} // end of averaging |
|
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yawing |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MaxStickYaw > 20) // yaw stick is activated |
{ // if not fixed compass course is set update compass course |
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
} |
// exponential stick sensitivity in yawring rate |
tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
SetPointYaw = tmp_int; |
Reading_IntegralGyroYaw -= tmp_int; |
// limit the effect |
if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Compass |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
{ |
int16_t w,v; |
static uint8_t updCompass = 0; |
|
if (!updCompass--) |
{ |
updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
// get current compass heading (angule between MK head and magnetic north) |
#ifdef USE_MM3 |
CompassHeading = MM3_Heading(); |
#endif |
#ifdef USE_CMPS03 |
CompassHeading = CMPS03_Heading(); |
#endif |
|
if (CompassHeading < 0) // no compass data available |
{ |
CompassOffCourse = 0; |
if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
} |
else // calculate OffCourse (angular deviation from heading to course) |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
} |
|
// reduce compass effect with increasing declination |
w = abs(IntegralPitch / 512); |
v = abs(IntegralRoll / 512); |
if(v > w) w = v; // get maximum declination |
// if declination is small enough update compass course if neccessary |
if(w < 35 && StoreNewCompassCourse) |
{ |
CompassCourse = CompassHeading; |
StoreNewCompassCourse = 0; |
} |
w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
{ |
Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// GPS |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((ParamSet.GlobalConfig & CFG_GPS_ACTIVE) && !EmergencyLanding) |
{ |
GPS_P_Factor = FCParam.UserParam5; |
GPS_D_Factor = FCParam.UserParam6; |
GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
} |
else |
{ |
GPS_Neutral(); |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!TimerDebugOut--) |
{ |
TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
DebugOut.Analog[2] = Mean_AccPitch; |
DebugOut.Analog[3] = Mean_AccRoll; |
DebugOut.Analog[4] = Reading_GyroYaw; |
DebugOut.Analog[5] = ReadingHight; |
DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
DebugOut.Analog[8] = CompassHeading; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[16] = Mean_AccTop; |
|
/* DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
DebugOut.Analog[18] = motor_rx[2]; |
DebugOut.Analog[19] = motor_rx[3]; |
DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
DebugOut.Analog[20] /= 14; |
DebugOut.Analog[21] = motor_rx[4]; |
DebugOut.Analog[22] = motor_rx[5]; |
DebugOut.Analog[23] = motor_rx[6]; |
DebugOut.Analog[24] = motor_rx[7]; |
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
|
DebugOut.Analog[9] = Reading_GyroPitch; |
DebugOut.Analog[9] = SetPointHight; |
DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
DebugOut.Analog[11] = CompassCourse; |
DebugOut.Analog[10] = FCParam.Gyro_I; |
DebugOut.Analog[10] = ParamSet.Gyro_I; |
DebugOut.Analog[9] = CompassOffCourse; |
DebugOut.Analog[10] = ThrustMixFraction; |
DebugOut.Analog[3] = HightD * 32; |
DebugOut.Analog[4] = HightControlThrust; |
*/ |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Hight Control |
// The higth control algorithm reduces the thrust but does not increase the thrust. |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// If hight control is activated and no emergency landing is active |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
{ |
int tmp_int; |
// if hight control is activated by an rc channel |
if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
{ // check if parameter is less than activation threshold |
if(FCParam.MaxHight < 50) |
{ |
SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
HightControlActive = 0; // disable hight control |
} |
else HightControlActive = 1; // enable hight control |
} |
else // no switchable hight control |
{ |
SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
HightControlActive = 1; |
} |
// get current hight |
h = ReadingHight; |
// if current hight is above the setpoint reduce thrust |
if((h > SetPointHight) && HightControlActive) |
{ |
// hight difference -> P control part |
h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
h = ThrustMixFraction - h; // reduce gas |
// higth gradient --> D control part |
h -= (HightD * FCParam.Hight_D) / 8; // D control part |
// acceleration sensor effect |
tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
if(tmp_int > 50) tmp_int = 50; |
if(tmp_int < -50) tmp_int = -50; |
h -= tmp_int; |
// update hight control thrust |
HightControlThrust = (HightControlThrust*15 + h) / 16; |
// limit thrust reduction |
if(HightControlThrust < ParamSet.Hight_MinThrust) |
{ |
if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
// allows landing also if thrust stick is reduced below min thrust on hight control |
if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
} |
// limit thrust to stick setting |
if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
ThrustMixFraction = HightControlThrust; |
} |
} |
// 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; |
|
// Motor Front |
MotorValue = ThrustMixFraction + pd_result + 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_Front = MotorValue; |
|
// Motor Rear |
MotorValue = ThrustMixFraction - pd_result + 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_Rear = MotorValue; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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; |
|
// Motor Left |
MotorValue = ThrustMixFraction + pd_result - 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 - pd_result - 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; |
} |
|