0,0 → 1,376 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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/* |
OBSOLETED BY controlMixer.c. But this is how it looked - maybe somebody will find it simpler? |
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#include <stdlib.h> |
#include "control.h" |
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#include "rc.h" |
#include "configuration.h" |
#include "attitude.h" |
#include "eeprom.h" |
#include "flight.h" |
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#define RCChannel(dimension) (PPM_in[staticParams.ChannelAssignment[dimension]]) |
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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; |
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// dongfang's own experiment: Cablibrated sticks. |
int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
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// Looping-or-not flags. |
uint8_t loopingPitch = 0, loopingRoll = 0; |
uint8_t loopingLeft = 0, loopingRight = 0, loopingDown = 0, loopingTop = 0; |
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// Internal variables for reading commands made with an R/S stick. |
uint8_t lastStickCommand = STICK_COMMAND_UNDEF; |
uint8_t stickCommandTimer = 0; |
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ExternalControl_t externalControl; |
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/ * |
* 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 |
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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; |
} |
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uint8_t control_isStickCommandRepeated(void) { |
return stickCommandTimer > 200 ? 1 : 0; |
} |
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/ * |
* 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]--; |
} |
} |
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/ * |
* 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 |
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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; |
} |
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if(stickThrottle < 0) stickThrottle = 0; |
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if(abs(stickPitch / STICK_GAIN) > maxStickPitch) { |
maxStickPitch = abs(stickPitch) / STICK_GAIN; |
if(maxStickPitch > 100) maxStickPitch = 100; |
} |
else if (maxStickPitch) maxStickPitch--; |
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if(abs(stickRoll / STICK_GAIN) > maxStickRoll) { |
maxStickRoll = abs(stickRoll) / STICK_GAIN; |
if(maxStickRoll > 100) maxStickRoll = 100; |
} |
else if (maxStickRoll) maxStickRoll--; |
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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; |
} |
} |
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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; |
} |
} |
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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; |
} |
} |
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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; |
} |
} |
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if(loopingLeft || loopingRight) loopingRoll = 1; else loopingRoll = 0; |
if(loopingTop || loopingDown) { loopingPitch = 1; loopingRoll = 0; loopingLeft = 0; loopingRight = 0;} else loopingPitch = 0; |
} |
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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; |
} |
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void control_performPilotCalibrationCommands(uint8_t stickCommand) { |
if (stickCommand == STICK_COMMAND_GYROCAL && !control_isStickCommandRepeated()) { |
// Run gyro calibration but do not repeat it. |
GRN_OFF; |
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// 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 |
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uint8_t setting = control_getRightRCStickIndex(); |
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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); |
} |
} |
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// 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. |
/* |