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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| /* |
| OBSOLETED BY controlMixer.c. But this is how it looked - maybe somebody will find it simpler? |
| |
| #include <stdlib.h> |
| #include "control.h" |
| |
| #include "rc.h" |
| #include "configuration.h" |
| #include "attitude.h" |
| #include "eeprom.h" |
| #include "flight.h" |
| |
| #define RCChannel(dimension) (PPM_in[staticParams.ChannelAssignment[dimension]]) |
| |
| uint16_t maxStickPitch = 0, maxStickRoll = 0; |
| int16_t stickPitch = 0, stickRoll = 0, stickYaw = 0, stickThrottle = 0; |
| int16_t GPSStickPitch = 0, GPSStickRoll = 0; |
| int16_t externalStickPitch = 0, externalStickRoll = 0, externalStickYaw = 0, externalHeightValue = -20; |
| |
| // dongfang's own experiment: Cablibrated sticks. |
| int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
| |
| // Looping-or-not flags. |
| uint8_t loopingPitch = 0, loopingRoll = 0; |
| uint8_t loopingLeft = 0, loopingRight = 0, loopingDown = 0, loopingTop = 0; |
| |
| // Internal variables for reading commands made with an R/S stick. |
| uint8_t lastStickCommand = STICK_COMMAND_UNDEF; |
| uint8_t stickCommandTimer = 0; |
| |
| ExternalControl_t externalControl; |
| |
| / * |
| * Stick diagram: |
| * 2--3--4 |
| * | | + |
| * 1 9 5 ^ 0 |
| * | | | |
| * 8--7--6 |
| * |
| * + <-- |
| * 0 |
| * |
| * Not in any of these positions: 0 |
| * / |
| |
| / * |
| * The stick most be further from center than this to indicate a settings number (1-5). |
| * / |
| #define STICK_SETTINGSELECTION_THRESHOLD 70 |
| |
| uint8_t control_getLeftRCStickIndex(int16_t thresholdThrottle, int16_t thresholdYaw) { |
| if(RCChannel(CH_THROTTLE) > thresholdThrottle) { |
| // throttle is up |
| if(RCChannel(CH_YAW) > thresholdYaw) |
| return STICK_COMMAND_GYROCAL; |
| if(RCChannel(CH_YAW) < -thresholdYaw) |
| return STICK_COMMAND_ACCCAL; |
| return STICK_COMMAND_UNDEF; |
| } else if(RCChannel(CH_THROTTLE) < -thresholdThrottle) { |
| // pitch is down |
| if(RCChannel(CH_YAW) > thresholdYaw) |
| return STICK_COMMAND_STOP; |
| if(RCChannel(CH_YAW) < -thresholdYaw) |
| return STICK_COMMAND_START; |
| return STICK_COMMAND_UNDEF; |
| } else { |
| // pitch is around center |
| return STICK_COMMAND_UNDEF; |
| } |
| } |
| |
| uint8_t control_getRightRCStickIndex(void) { |
| if(RCChannel(CH_PITCH) > STICK_SETTINGSELECTION_THRESHOLD) { |
| // pitch is up |
| if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD) |
| return 2; |
| if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD) |
| return 4; |
| return 3; |
| } else if(RCChannel(CH_PITCH) < -STICK_SETTINGSELECTION_THRESHOLD) { |
| // pitch is down |
| if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD) |
| return 8; |
| if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD) |
| return 6; |
| return 7; |
| } else { |
| // pitch is around center |
| if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD) |
| return 1; |
| if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD) |
| return 5; |
| return 9; |
| } |
| } |
| |
| / * |
| * This could be expanded to take calibrate / start / stop commands from ohter sources |
| * than the R/C (read: Custom MK R/C project) |
| * / |
| void control_senseStickCommands(void) { |
| uint8_t stickCommandNow = control_getLeftRCStickIndex(85, 85); |
| if (stickCommandNow != lastStickCommand) { |
| lastStickCommand = stickCommandNow; |
| stickCommandTimer = 0; |
| } else { |
| if (stickCommandTimer < 201) |
| stickCommandTimer++; |
| } |
| } |
| |
| / * |
| * This could be expanded to take calibrate / start / stop commands from ohter sources |
| * than the R/C (read: Custom MK R/C project) |
| * / |
| uint8_t control_getStickCommand(void) { |
| // If the same command was made 200 times, it's stable. |
| if (stickCommandTimer >= 200) { |
| return lastStickCommand; |
| } |
| return STICK_COMMAND_UNDEF; |
| } |
| |
| uint8_t control_isStickCommandRepeated(void) { |
| return stickCommandTimer > 200 ? 1 : 0; |
| } |
| |
| / * |
| * To be fired only when the right stick is in the center position. |
| * This will cause the value of pitch and roll stick to be adjusted |
| * to zero (not just to near zero, as per the assumption in rc.c |
| * about the rc signal. I had values about 50..70 with a Futaba |
| * R617 receiver.) This calibration is not strictly necessary, but |
| * for control logic that depends on the exact (non)center position |
| * of a stick, it may be useful. |
| * / |
| void control_setNeutral(void) { |
| stickOffsetPitch += stickPitch; |
| stickOffsetRoll += stickRoll; |
| } |
| |
| / * |
| * Set the potientiometer values to the values of the respective R/C channel |
| * right now. No slew rate limit. |
| * / |
| void control_initPots(void) { |
| uint8_t i; |
| for (i=0; i<4; i++) { |
| pots[i] = RCChannel(CH_POTS + i) + POT_OFFSET; |
| } |
| for (i=4; i<8; i++) { |
| pots[i] = PPM_in[9 + (i-4)] + POT_OFFSET; |
| } |
| } |
| |
| / * |
| * Update potentiometer values with slow slew rate. Could be made faster if desired. |
| * / |
| void control_updatePots(void) { |
| uint8_t i; |
| uint16_t targetvalue; |
| for (i=0; i<8; i++) { |
| if (i<4) // configured pots |
| targetvalue = RCChannel(CH_POTS + i) + POT_OFFSET; |
| else // PPM24-Extension |
| targetvalue = PPM_in[9 + i] + POT_OFFSET; |
| if (targetvalue < 0) targetvalue = 0; |
| if (pots[i] < targetvalue && pots[i] < 255) pots[i]++; else if(pots[i] > 0 && pots[i] > targetvalue) pots[i]--; |
| } |
| } |
| |
| / * |
| * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
| * / |
| void control_update(void) { |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| stickPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
| // (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4; |
| stickPitch += PPM_diff[staticParams.ChannelAssignment[CH_PITCH]] * staticParams.StickD; |
| stickPitch = stickPitch - stickOffsetPitch - GPSStickPitch; |
| |
| stickRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
| // stick_roll = (stick_roll * 3 + RCChannel(CH_ROLL) * staticParams.StickP) / 4; |
| stickRoll += PPM_diff[staticParams.ChannelAssignment[CH_ROLL]] * staticParams.StickD; |
| stickRoll = stickRoll - stickOffsetRoll - GPSStickRoll; |
| |
| // mapping of yaw |
| stickYaw = -RCChannel(CH_YAW); |
| // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
| if (stickYaw > 2) stickYaw-= 2; |
| else if (stickYaw< -2) stickYaw += 2; |
| else stickYaw = 0; |
| } |
| |
| // mapping of gas |
| stickThrottle = RCChannel(CH_THROTTLE) + 120;// shift to positive numbers |
| |
| if(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128) { |
| stickPitch += (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
| stickRoll += (int16_t) externalControl.roll * (int16_t) staticParams.StickP; |
| stickYaw += externalControl.yaw; |
| // ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)staticParams.Height_Gain; |
| // Dubious: Lowest throttle setting has precedence. |
| if(externalControl.throttle < stickThrottle) stickThrottle = externalControl.throttle; |
| } |
| |
| if(stickThrottle < 0) stickThrottle = 0; |
| |
| if(abs(stickPitch / CONTROL_SCALING) > maxStickPitch) { |
| maxStickPitch = abs(stickPitch) / CONTROL_SCALING; |
| if(maxStickPitch > 100) maxStickPitch = 100; |
| } |
| else if (maxStickPitch) maxStickPitch--; |
| |
| if(abs(stickRoll / CONTROL_SCALING) > maxStickRoll) { |
| maxStickRoll = abs(stickRoll) / CONTROL_SCALING; |
| if(maxStickRoll > 100) maxStickRoll = 100; |
| } |
| else if (maxStickRoll) maxStickRoll--; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? Do not consider external or GPS input for this :) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((RCChannel(CH_ROLL) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_LEFT) loopingLeft = 1; |
| else { |
| if(loopingLeft) { // Hysteresis |
| if((RCChannel(CH_ROLL) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingLeft = 0; |
| } |
| } |
| |
| if((RCChannel(CH_ROLL) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_RIGHT) loopingRight = 1; |
| else { |
| if(loopingRight) { // Hysteresis |
| if(RCChannel(CH_ROLL) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingRight = 0; |
| } |
| } |
| |
| if((RCChannel(CH_PITCH) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_UP) loopingTop = 1; |
| else { |
| if(loopingTop) { // Hysteresis |
| if((RCChannel(CH_PITCH) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingTop = 0; |
| } |
| } |
| |
| if((RCChannel(CH_PITCH) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_DOWN) loopingDown = 1; |
| else { |
| if(loopingDown) { // Hysteresis |
| if(RCChannel(CH_PITCH) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingDown = 0; |
| } |
| } |
| |
| if(loopingLeft || loopingRight) loopingRoll = 1; else loopingRoll = 0; |
| if(loopingTop || loopingDown) { loopingPitch = 1; loopingRoll = 0; loopingLeft = 0; loopingRight = 0;} else loopingPitch = 0; |
| } |
| |
| void setCompassCalState(void) { |
| static uint8_t stick = 1; |
| // if pitch is centered or top set stick to zero |
| if(RCChannel(CH_PITCH) > -20) stick = 0; |
| // if pitch is down trigger to next cal state |
| if((RCChannel(CH_PITCH) < -70) && !stick) { |
| stick = 1; |
| compassCalState++; |
| if(compassCalState < 5) beepNumber(compassCalState); |
| else beep(1000); |
| } |
| } |
| |
| / * |
| * |
| * / |
| uint8_t control_hasNewRCData(void) { |
| // return !NewPpmData--; |
| return (NewPpmData-- == 0) ? 1 : 0; |
| } |
| |
| void control_performPilotCalibrationCommands(uint8_t stickCommand) { |
| if (stickCommand == STICK_COMMAND_GYROCAL && !control_isStickCommandRepeated()) { |
| // Run gyro calibration but do not repeat it. |
| GRN_OFF; |
| |
| // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
| // isFlying = 0; |
| // check roll/pitch stick position |
| // if pitch stick is top or roll stick is left or right --> change parameter setting |
| // according to roll/pitch stick position |
| |
| uint8_t setting = control_getRightRCStickIndex(); |
| |
| if ((setting > 0 && setting < 6) || setting == 9) { |
| // Gyro calinbration, with or without selecting a new parameter-set. |
| if(setting > 0 && setting < 6) { |
| // A valid parameter-set (1..5) was chosen - use it. |
| setActiveParamSet(setting); |
| } |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| if (setting == 9) { // Right stick is centered; calibrate it to zero (hmm strictly does not belong here). |
| control_setNeutral(); // Calibrate right stick neutral position. |
| } |
| beepNumber(getActiveParamSet()); |
| } else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && setting == 7) { |
| // If right stick is centered and down |
| compassCalState = 1; |
| beep(1000); |
| } |
| } |
| |
| // save the ACC neutral setting to eeprom |
| else { |
| if(stickCommand == STICK_COMMAND_ACCCAL && !control_isStickCommandRepeated()) { |
| // Run gyro and acc. meter calibration but do not repeat it. |
| GRN_OFF; |
| analog_calibrateAcc(); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| control_setNeutral(); // Calibrate right stick neutral position. |
| beepNumber(getActiveParamSet()); |
| } |
| } |
| } // end !MOTOR_RUN condition. |
| /* |