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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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <stdlib.h> |
| #include "controlMixer.h" |
| #include "rc.h" |
| #include "externalControl.h" |
| #include "configuration.h" |
| #include "attitude.h" |
| #include "eeprom.h" |
| #include "flight.h" |
| |
| /* |
| * Number of cycles a command must be repeated before commit. Maybe this really belongs in RC. |
| */ |
| #define COMMAND_TIMER 200 |
| |
| uint16_t maxControlPitch = 0, maxControlRoll = 0; |
| int16_t controlPitch = 0, controlRoll = 0, controlYaw = 0, controlThrottle = 0; |
| uint8_t looping = 0; |
| |
| // Internal variables for reading commands made with an R/C stick. |
| uint8_t lastCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| |
| /* |
| * This could be expanded to take arguments from ohter sources than the RC |
| * (read: Custom MK RC project) |
| */ |
| uint8_t controlMixer_getArgument(void) { |
| return RC_getArgument(); |
| } |
| |
| /* |
| * 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 controlMixer_getCommand(void) { |
| // If the same command was made COMMAND_TIMER times, it's stable. |
| if (commandTimer >= COMMAND_TIMER) { |
| return lastCommand; |
| } |
| return COMMAND_NONE; |
| } |
| |
| uint8_t controlMixer_isCommandRepeated(void) { |
| return commandTimer > COMMAND_TIMER ? 1 : 0; |
| } |
| |
| void controlMixer_setNeutral(uint8_t calibrate) { |
| if (calibrate) |
| RC_calibrate(); |
| EC_setNeutral(); |
| } |
| |
| /* |
| * Set the potientiometer values to the momentary values of the respective R/C channels. |
| * No slew rate limitation. |
| */ |
| void controlMixer_initVariables(void) { |
| uint8_t i; |
| for (i=0; i<8; i++) { |
| variables[i] = RC_getVariable(i); |
| } |
| } |
| |
| /* |
| * Update potentiometer values with limited slew rate. Could be made faster if desired. |
| */ |
| void controlMixer_updateVariables(void) { |
| uint8_t i; |
| int16_t targetvalue; |
| for (i=0; i<8; i++) { |
| targetvalue = RC_getVariable(i); |
| if (targetvalue < 0) targetvalue = 0; |
| if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
| } |
| } |
| |
| uint8_t controlMixer_getSignalQuality(void) { |
| uint8_t rcQ = RC_getSignalQuality(); |
| uint8_t ecQ = EC_getSignalQuality(); |
| DebugOut.Analog[16] = rcQ; |
| DebugOut.Analog[17] = ecQ; |
| // This needs not be the only correct solution... |
| return rcQ > ecQ ? rcQ : ecQ; |
| } |
| |
| /* |
| * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
| */ |
| void controlMixer_update(void) { |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| // TODO: If no signal --> zero. |
| RC_update(); |
| EC_update(); |
| |
| int16_t* RC_PRTY = RC_getPRTY(); |
| int16_t* EC_PRTY = EC_getPRTY(); |
| |
| controlPitch = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| controlRoll = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
| DebugOut.Analog[14] = controlThrottle = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]; |
| DebugOut.Analog[15] = controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| |
| if (RC_getSignalQuality() >= SIGNAL_GOOD) { |
| controlMixer_updateVariables(); |
| configuration_applyVariablesToParams(); |
| looping = RC_getLooping(looping); |
| } else { // Signal is not OK |
| // Could handle switch to emergency flight here. |
| // throttle is handled elsewhere. |
| looping = 0; |
| } |
| |
| DebugOut.Analog[18] = (int16_t)looping; |
| |
| // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
| // TODO: Correct, for changed range (stick gain + expo is now applied already) |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| if (controlYaw > 2) controlYaw-= 2; |
| else if (controlYaw< -2) controlYaw += 2; |
| else controlYaw = 0; |
| } |
| |
| /* |
| * Record maxima |
| */ |
| if(abs(controlPitch / STICK_GAIN) > maxControlPitch) { |
| maxControlPitch = abs(controlPitch) / STICK_GAIN; |
| if(maxControlPitch > 100) maxControlPitch = 100; |
| } else if (maxControlPitch) maxControlPitch--; |
| if(abs(controlRoll / STICK_GAIN) > maxControlRoll) { |
| maxControlRoll = abs(controlRoll) / STICK_GAIN; |
| if(maxControlRoll > 100) maxControlRoll = 100; |
| } |
| else if (maxControlRoll) maxControlRoll--; |
| |
| // Here we could blend in other sources. |
| uint8_t commandNow = RC_getCommand(); |
| |
| if (commandNow != lastCommand) { |
| lastCommand = commandNow; |
| commandTimer = 0; |
| } else if (commandTimer < COMMAND_TIMER + 1) |
| commandTimer++; |
| } |
| |
| /* |
| 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); |
| } |
| } |
| */ |