| 0,0 → 1,231 |
|---|
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include "eeprom.h" |
| #include "flight.h" |
| #include "output.h" |
| |
| // Necessary for external control and motor test |
| #include "uart0.h" |
| #include "timer2.h" |
| #include "analog.h" |
| #include "attitude.h" |
| #include "controlMixer.h" |
| #include "configuration.h" |
| |
| #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
| |
| /* |
| * target-directions integrals. |
| */ |
| int32_t target[3]; |
| |
| /* |
| * Error integrals. |
| */ |
| int32_t error[3]; |
| |
| uint8_t reverse[3]; |
| int32_t maxError[3]; |
| int32_t IPart[3] = { 0, 0, 0 }; |
| PID_t airspeedPID[3]; |
| |
| int16_t controlServos[NUM_CONTROL_SERVOS]; |
| |
| /************************************************************************/ |
| /* Neutral Readings */ |
| /************************************************************************/ |
| #define CONTROL_CONFIG_SCALE 10 |
| |
| void flight_setGround(void) { |
| IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0; |
| target[PITCH] = attitude[PITCH]; |
| target[ROLL] = attitude[ROLL]; |
| target[YAW] = attitude[YAW]; |
| } |
| |
| void flight_updateFlightParametersToFlightMode(void) { |
| debugOut.analog[16] = currentFlightMode; |
| reverse[PITCH] = staticParams.controlServosReverse & CONTROL_SERVO_REVERSE_ELEVATOR; |
| reverse[ROLL] = staticParams.controlServosReverse & CONTROL_SERVO_REVERSE_AILERONS; |
| reverse[YAW] = staticParams.controlServosReverse & CONTROL_SERVO_REVERSE_RUDDER; |
| |
| // At a switch to angles, we want to kill errors first. |
| // This should be triggered only once per mode change! |
| if (currentFlightMode == FLIGHT_MODE_ANGLES) { |
| target[PITCH] = attitude[PITCH]; |
| target[ROLL] = attitude[ROLL]; |
| target[YAW] = attitude[YAW]; |
| } |
| |
| for (uint8_t axis=0; axis<3; axis++) { |
| maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR; |
| } |
| } |
| |
| // Normal at airspeed = 10. |
| uint8_t calcAirspeedPID(uint8_t pid) { |
| if (staticParams.bitConfig & CFG_USE_AIRSPEED_PID) { |
| return pid; |
| } |
| |
| uint16_t result = (pid * 10) / airspeedVelocity; |
| |
| if (result > 240 || airspeedVelocity == 0) { |
| result = 240; |
| } |
| |
| return result; |
| } |
| |
| void setAirspeedPIDs(void) { |
| for (uint8_t axis = 0; axis<3; axis++) { |
| airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P); |
| airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be??? |
| airspeedPID[axis].D = dynamicParams.gyroPID[axis].D; |
| } |
| } |
| |
| /************************************************************************/ |
| /* Main Flight Control */ |
| /************************************************************************/ |
| void flight_control(void) { |
| // Mixer Fractions that are combined for Motor Control |
| int16_t term[4]; |
| |
| // PID controller variables |
| int16_t PDPart[3]; |
| |
| static int8_t debugDataTimer = 1; |
| |
| // High resolution motor values for smoothing of PID motor outputs |
| // static int16_t outputFilters[MAX_OUTPUTS]; |
| |
| uint8_t axis; |
| |
| setAirspeedPIDs(); |
| |
| term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE]; |
| |
| // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
| target[PITCH] += (controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> 6; |
| target[ROLL] += (controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> 6; |
| target[YAW] += (controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> 6; |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| if (target[axis] > OVER180) { |
| target[axis] -= OVER360; |
| } else if (target[axis] <= -OVER180) { |
| target[axis] += OVER360; |
| } |
| |
| if (reverse[axis]) |
| error[axis] = attitude[axis] + target[axis]; |
| else |
| error[axis] = attitude[axis] - target[axis]; |
| |
| if (error[axis] > maxError[axis]) { |
| error[axis] = maxError[axis]; |
| } else if (error[axis] < -maxError[axis]) { |
| error[axis] =- maxError[axis]; |
| } |
| |
| #define LOG_P_SCALE 6 |
| #define LOG_I_SCALE 6 |
| #define LOG_D_SCALE 4 |
| |
| /************************************************************************/ |
| /* Calculate control feedback from angle (gyro integral) */ |
| /* and angular velocity (gyro signal) */ |
| /************************************************************************/ |
| if (currentFlightMode == FLIGHT_MODE_ANGLES || currentFlightMode |
| == FLIGHT_MODE_RATE) { |
| PDPart[axis] = (((int32_t) gyro_PID[axis] |
| * (int16_t) airspeedPID[axis].P) >> LOG_P_SCALE) |
| + ((gyroD[axis] * (int16_t) airspeedPID[axis].D) |
| >> LOG_D_SCALE); |
| if (reverse[axis]) |
| PDPart[axis] = -PDPart[axis]; |
| } else { |
| PDPart[axis] = 0; |
| } |
| |
| if (currentFlightMode == FLIGHT_MODE_ANGLES) { |
| int16_t anglePart = (int32_t)( |
| error[axis] * (int32_t) airspeedPID[axis].I) |
| >> LOG_I_SCALE; |
| if (reverse[axis]) |
| PDPart[axis] += anglePart; |
| else |
| PDPart[axis] -= anglePart; |
| } |
| // Add I parts here... these are integrated errors. |
| // When an error wraps, actually its I part should be negated or something... |
| |
| term[axis] = controls[axis] + PDPart[axis] + IPart[axis]; |
| } |
| |
| debugOut.analog[12] = term[PITCH]; |
| debugOut.analog[13] = term[ROLL]; |
| debugOut.analog[14] = term[YAW]; |
| debugOut.analog[15] = term[THROTTLE]; |
| |
| for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) { |
| int16_t tmp; |
| if (servoTestActive) { |
| controlServos[i] = ((int16_t) servoTest[i] - 128) * 4; |
| } else { |
| // Follow the normal order of servos: Ailerons, elevator, throttle, rudder. |
| switch (i) { |
| case 0: |
| tmp = term[ROLL]; |
| break; |
| case 1: |
| tmp = term[PITCH]; |
| break; |
| case 2: |
| tmp = term[THROTTLE]; |
| break; |
| case 3: |
| tmp = term[YAW]; |
| break; |
| default: |
| tmp = 0; |
| } |
| // These are all signed and in the same units as the RC stuff in rc.c. |
| controlServos[i] = tmp; |
| } |
| } |
| |
| calculateControlServoValues(); |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugging |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if (!(--debugDataTimer)) { |
| debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg |
| debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg |
| debugOut.analog[2] = gyro_PID[YAW]; |
| |
| debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
| debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
| debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10); |
| |
| debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
| debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
| debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10); |
| |
| debugOut.analog[9] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
| debugOut.analog[10] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
| debugOut.analog[11] = error[YAW] / (GYRO_DEG_FACTOR / 10); |
| |
| debugOut.analog[12] = term[PITCH]; |
| debugOut.analog[13] = term[ROLL]; |
| debugOut.analog[14] = term[YAW]; |
| |
| //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg |
| //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg |
| } |
| } |