| 0,0 → 1,585 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 "eeprom.h" |
| #include "flight.h" |
| |
| // Only for debug. Remove. |
| #include "analog.h" |
| #include "rc.h" |
| |
| // Necessary for external control and motor test |
| #include "uart0.h" |
| #include "twimaster.h" |
| #include "attitude.h" |
| #include "controlMixer.h" |
| #ifdef USE_MK3MAG |
| #include "gps.h" |
| #endif |
| |
| #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
| |
| /* |
| * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
| * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
| */ |
| int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
| |
| // MK flags |
| uint16_t isFlying = 0; |
| volatile uint8_t MKFlags = 0; |
| |
| uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
| uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
| |
| // Some integral weight constant... |
| uint16_t Ki = 10300 / 33; |
| uint8_t RequiredMotors = 0; |
| |
| // No support for altitude control right now. |
| // int16_t SetPointHeight = 0; |
| |
| /************************************************************************/ |
| /* Filter for motor value smoothing (necessary???) */ |
| /************************************************************************/ |
| int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
| switch(dynamicParams.UserParams[5]) { |
| case 0: |
| return newvalue; |
| case 1: |
| return (oldvalue + newvalue) / 2; |
| case 2: |
| if(newvalue > oldvalue) |
| return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
| else |
| return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| case 3: |
| if(newvalue < oldvalue) |
| return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
| else |
| return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| default: return newvalue; |
| } |
| } |
| |
| /************************************************************************/ |
| /* Neutral Readings */ |
| /************************************************************************/ |
| void flight_setNeutral() { |
| // GPSStickPitch = 0; |
| // GPSStickRoll = 0; |
| |
| MKFlags |= MKFLAG_CALIBRATE; |
| |
| // not really used here any more. |
| dynamicParams.KalmanK = -1; |
| dynamicParams.KalmanMaxDrift = 0; |
| dynamicParams.KalmanMaxFusion = 32; |
| |
| controlMixer_initVariables(); |
| |
| // TODO: Move off. |
| // RC_Quality = 100; |
| } |
| |
| /************************************************************************/ |
| /* Transmit Motor Data via I2C */ |
| /************************************************************************/ |
| void sendMotorData(void) { |
| uint8_t i; |
| if(!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| // If pilot has not started the engines.... |
| MKFlags &= ~(MKFLAG_FLY | MKFLAG_START); // clear flag FLY and START if motors are off |
| for(i = 0; i < MAX_MOTORS; i++) { |
| // and if we are not in motor test mode, cut throttle on all motors. |
| if(!motorTestActive) Motor[i].SetPoint = 0; |
| else Motor[i].SetPoint = motorTest[i]; |
| } |
| if(motorTestActive) motorTestActive--; |
| } |
| |
| /* |
| DebugOut.Analog[12] = Motor[0].SetPoint; // Front |
| DebugOut.Analog[13] = Motor[1].SetPoint; // Rear |
| DebugOut.Analog[14] = Motor[3].SetPoint; // Left |
| DebugOut.Analog[15] = Motor[2].SetPoint; // Right |
| */ |
| // Start I2C Interrupt Mode |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| } |
| |
| void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
| Ki = 10300 / _Ki; |
| gyroPFactor = _gyroPFactor; |
| gyroIFactor = _gyroIFactor; |
| yawPFactor = _yawPFactor; |
| yawIFactor = _yawIFactor; |
| } |
| |
| void setNormalFlightParameters(void) { |
| setFlightParameters(dynamicParams.IFactor + 1, |
| dynamicParams.GyroP + 10, |
| staticParams.GlobalConfig & CFG_HEADING_HOLD ? dynamicParams.GyroI : 0, |
| dynamicParams.GyroP + 10, |
| dynamicParams.UserParams[6] |
| ); |
| } |
| |
| void setStableFlightParameters(void) { |
| setFlightParameters(33, 90, 120, 90, 120); |
| } |
| |
| void handleCommands(uint8_t command, uint8_t argument, uint8_t isCommandRepeated) { |
| if(!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| if (command == COMMAND_GYROCAL && !isCommandRepeated) { |
| // 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 |
| |
| if (argument < 6) { |
| // Gyro calinbration, with or without selecting a new parameter-set. |
| if(argument > 0 && argument < 6) { |
| // A valid parameter-set (1..5) was chosen - use it. |
| setActiveParamSet(argument); |
| } |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| // Right stick is centered; calibrate it to zero (hmm strictly does not belong here). |
| // If heading hold is active, do not do it. TODO: We also want to re-set old calibration. |
| controlMixer_setNeutral(!argument); |
| beepNumber(getActiveParamSet()); |
| } else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && argument == 7) { |
| // If right stick is centered and down |
| compassCalState = 1; |
| beep(1000); |
| } |
| } |
| |
| // save the ACC neutral setting to eeprom |
| else { |
| if(command == COMMAND_ACCCAL && !isCommandRepeated) { |
| // Run gyro and acc. meter calibration but do not repeat it. |
| GRN_OFF; |
| analog_calibrateAcc(); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| controlMixer_setNeutral(1); // Calibrate right stick neutral position. |
| beepNumber(getActiveParamSet()); |
| } |
| } |
| } // end !MOTOR_RUN condition. |
| if (command == COMMAND_START) { |
| isFlying = 1; // TODO: Really???? |
| // if (!controlMixer_isCommandRepeated()) { |
| // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| // attitude_continueDynamicCalibration(); |
| // setPointYaw = 0; |
| // IPartPitch = 0; |
| // IPartRoll = 0; |
| // } |
| } else if (command == COMMAND_STOP) { |
| isFlying = 0; |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| } |
| } |
| |
| /************************************************************************/ |
| /* Main Flight Control */ |
| /************************************************************************/ |
| void flight_control(void) { |
| int16_t tmp_int; |
| // Mixer Fractions that are combined for Motor Control |
| int16_t yawTerm, throttleTerm, pitchTerm, rollTerm; |
| |
| // PID controller variables |
| int16_t PDPartPitch, PDPartRoll, PDPartYaw, PPartPitch, PPartRoll; |
| static int32_t IPartPitch = 0, IPartRoll = 0; |
| |
| static int32_t setPointYaw = 0; |
| |
| // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
| // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
| // static int32_t CorrectionPitch, CorrectionRoll; |
| |
| static uint16_t emergencyFlightTime; |
| |
| // No support for altitude control right now. |
| // static uint8_t HeightControlActive = 0; |
| // static int16_t HeightControlGas = 0; |
| |
| static int8_t debugDataTimer = 1; |
| |
| // High resolution motor values for smoothing of PID motor outputs |
| static int16_t motorFilters[MAX_MOTORS]; |
| |
| uint8_t i; |
| |
| // Fire the main flight attitude calculation, including integration of angles. |
| calculateFlightAttitude(); |
| GRN_ON; |
| |
| /* |
| * TODO: update should: Set the stick variables if good signal, set them to zero if bad. |
| * Set variables also. |
| */ |
| controlMixer_update(); |
| |
| throttleTerm = controlThrottle; |
| if(throttleTerm < staticParams.GasMin + 10) throttleTerm = staticParams.GasMin + 10; |
| |
| /************************************************************************/ |
| /* RC-signal is bad */ |
| /* This part could be abstracted, as having yet another control input */ |
| /* to the control mixer: An emergency autopilot control. */ |
| /************************************************************************/ |
| if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| RED_ON; |
| beepRCAlarm(); |
| |
| if(emergencyFlightTime) { |
| // continue emergency flight |
| emergencyFlightTime--; |
| if(isFlying > 1000) { |
| // We're probably still flying. Descend slowly. |
| throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
| MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
| setStableFlightParameters(); |
| } else { |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
| } |
| } else { |
| // end emergency flight (just cut the motors???) |
| MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
| } |
| } else { |
| // signal is acceptable |
| if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
| // Reset emergency landing control variables. |
| MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
| // The time is in whole seconds. |
| emergencyFlightTime = staticParams.EmergencyGasDuration * 488; |
| } |
| |
| // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
| if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| // increment flight-time counter until overflow. |
| if(isFlying != 0xFFFF) isFlying++; |
| } else |
| /* |
| * When standing on the ground, do not apply I controls and zero the yaw stick. |
| * Probably to avoid integration effects that will cause the copter to spin |
| * or flip when taking off. |
| * TODO: What was the value of IPartPitch? At 1st run of this, it's 0 already. |
| */ |
| if(isFlying < 256) { |
| IPartPitch = 0; |
| IPartRoll = 0; |
| // TODO: Don't stomp on other modules' variables!!! |
| controlYaw = 0; |
| if(isFlying == 250) { |
| updateCompassCourse = 1; |
| yawAngle = 0; |
| setPointYaw = 0; |
| } |
| } else { |
| // DebugOut.Digital[1] = 0; |
| // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
| // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
| MKFlags |= (MKFLAG_FLY); |
| } |
| |
| /* |
| * Get the current command (start/stop motors, calibrate), if any. |
| */ |
| uint8_t command = controlMixer_getCommand(); |
| uint8_t repeated = controlMixer_isCommandRepeated(); |
| uint8_t argument = controlMixer_getArgument(); |
| |
| handleCommands(command, argument, repeated); |
| |
| // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| setNormalFlightParameters(); |
| // } |
| } // end else (not bad signal case) |
| |
| /* |
| * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
| * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
| * This is the throttle part. |
| */ |
| if(looping) { |
| if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
| } |
| |
| /************************************************************************/ |
| /* Yawing */ |
| /************************************************************************/ |
| if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
| badCompassHeading = 1000; |
| if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
| updateCompassCourse = 1; |
| } |
| } |
| |
| setPointYaw = controlYaw; |
| |
| // Trim drift of yawAngle with controlYaw. |
| // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
| yawAngle -= controlYaw; |
| |
| // limit the effect |
| CHECK_MIN_MAX(yawAngle, -50000, 50000) |
| |
| /************************************************************************/ |
| /* Compass is currently not supported. */ |
| /************************************************************************/ |
| /* |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
| updateCompass(); |
| } |
| */ |
| |
| #if defined (USE_MK3MAG) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /************************************************************************/ |
| /* GPS is currently not supported. */ |
| /************************************************************************/ |
| /* |
| if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
| GPS_Main(); |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
| } |
| else { |
| // GPSStickPitch = 0; |
| // GPSStickRoll = 0; |
| } |
| */ |
| #endif |
| |
| /************************************************************************/ |
| /* Calculate control feedback from angle (gyro integral) */ |
| /* and angular velocity (gyro signal) */ |
| /************************************************************************/ |
| // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
| if(looping & LOOPING_PITCH_AXIS) { |
| PPartPitch = 0; |
| } else { // TODO: Where do the 44000 come from??? |
| PPartPitch = pitchAngle * gyroIFactor / (44000 / STICK_GAIN); // P-Part - Proportional to Integral |
| } |
| |
| // Now blend in the D-part - proportional to the Differential of the integral = the rate. |
| PDPartPitch = PPartPitch + (int32_t)((int32_t)pitchRate_PID * gyroPFactor / (256L / STICK_GAIN)) |
| + (pitchDifferential * (int16_t)dynamicParams.GyroD) / 16; |
| |
| // The P-part is actually the I-part... |
| if(looping & LOOPING_ROLL_AXIS) { |
| PPartRoll = 0; |
| } else { // TODO: Where do the 44000 come from??? |
| PPartRoll = (rollAngle * gyroIFactor) / (44000 / STICK_GAIN); // P-Part - Proportional to Integral |
| } |
| |
| // Now blend in the P-part - proportional to the Differential of the integral = the rate |
| PDPartRoll = PPartRoll + (int32_t)((int32_t)rollRate_PID * gyroPFactor / (256L / STICK_GAIN)) |
| + (rollDifferential * (int16_t)dynamicParams.GyroD) / 16; |
| |
| PDPartYaw = (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / STICK_GAIN) |
| + (int32_t)(yawAngle * yawIFactor) / (2 * (44000 / STICK_GAIN)); |
| |
| // limit control feedback |
| #define SENSOR_LIMIT (4096 * 4) |
| CHECK_MIN_MAX(PDPartPitch, -SENSOR_LIMIT, SENSOR_LIMIT); |
| CHECK_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
| CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
| |
| /* |
| * Compose throttle term. |
| * If a Bl-Ctrl is missing, prevent takeoff. |
| */ |
| if(missingMotor) { |
| // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
| if((isFlying > 1) && (isFlying < 50) && (throttleTerm > 0)) |
| isFlying = 1; // keep within lift off condition |
| throttleTerm = staticParams.GasMin; // reduce gas to min to avoid lift of |
| } |
| |
| /* |
| * Height control was here. |
| */ |
| if(throttleTerm > staticParams.GasMax - 20) throttleTerm = (staticParams.GasMax - 20); |
| throttleTerm *= STICK_GAIN; |
| |
| /* |
| * Compose yaw term. |
| */ |
| #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
| yawTerm = PDPartYaw - setPointYaw * STICK_GAIN; |
| // limit yawTerm |
| if(throttleTerm > MIN_YAWGAS) { |
| /* |
| * -throttle/2 < -20 <= yawTerm <= 20 < throttle/2 |
| */ |
| CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
| } else { |
| /* |
| * -20 <= yawTerm <= 20 |
| */ |
| CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
| } |
| |
| tmp_int = staticParams.GasMax * STICK_GAIN; |
| |
| /* |
| * throttle-MaxThrottle <= yawTerm <= MaxThrottle-throttle |
| */ |
| CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
| |
| /* |
| * Compose pitch and roll terms. This is finally where the sticks come into play. |
| */ |
| if(gyroIFactor) { |
| // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
| // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
| // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
| IPartPitch += PPartPitch - controlPitch; // Integrate difference between P part (the angle) and the stick pos. |
| IPartRoll += PPartRoll - controlRoll; // I-part for attitude control OK |
| } else { |
| // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
| IPartPitch += PDPartPitch - controlPitch; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| IPartRoll += PDPartRoll - controlRoll; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| } |
| |
| // TODO: From which planet comes the 16000? |
| CHECK_MIN_MAX(IPartPitch, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
| |
| // Add (P, D) parts minus stick pos. to the scaled-down I part. |
| pitchTerm = PDPartPitch - controlPitch + IPartPitch / Ki; // PID-controller for pitch |
| |
| CHECK_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
| rollTerm = PDPartRoll - controlRoll + IPartRoll / Ki; // PID-controller for roll |
| |
| /* |
| * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
| * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
| * (max. pitch or roll term is the throttle value). |
| * TODO: Why a growing function of yaw? |
| */ |
| tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
| CHECK_MIN_MAX(pitchTerm, -tmp_int, tmp_int); |
| CHECK_MIN_MAX(rollTerm, -tmp_int, tmp_int); |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i = 0; i < MAX_MOTORS; i++) { |
| int16_t tmp; |
| if(Mixer.Motor[i][MIX_THROTTLE] > 0) { // If a motor has a zero throttle mix, it is not considered. |
| tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
| tmp += ((int32_t)pitchTerm * Mixer.Motor[i][MIX_PITCH]) / 64L; |
| tmp += ((int32_t)rollTerm * Mixer.Motor[i][MIX_ROLL]) / 64L; |
| tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
| motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| tmp = motorFilters[i] / STICK_GAIN; |
| CHECK_MIN_MAX(tmp, staticParams.GasMin, staticParams.GasMax); |
| Motor[i].SetPoint = tmp; |
| } |
| else Motor[i].SetPoint = 0; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!(--debugDataTimer)) { |
| debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| DebugOut.Analog[0] = (10 * pitchAngle) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[1] = (10 * rollAngle) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| |
| DebugOut.Analog[9] = setPointYaw; |
| DebugOut.Analog[10] = yawIFactor; |
| DebugOut.Analog[11] = gyroIFactor; |
| DebugOut.Analog[12] = RC_getVariable(0); |
| DebugOut.Analog[13] = dynamicParams.UserParams[0]; |
| DebugOut.Analog[14] = RC_getVariable(4); |
| DebugOut.Analog[15] = dynamicParams.UserParams[4]; |
| /* DebugOut.Analog[11] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; */ |
| |
| // 12..15 are the controls. |
| // DebugOut.Analog[16] = pitchAxisAcc; |
| // DebugOut.Analog[17] = rollAxisAcc; |
| // DebugOut.Analog[18] = ZAxisAcc; |
| |
| DebugOut.Analog[19] = throttleTerm; |
| DebugOut.Analog[20] = pitchTerm; |
| DebugOut.Analog[21] = rollTerm; |
| DebugOut.Analog[22] = yawTerm; |
| DebugOut.Analog[23] = PPartPitch; // |
| DebugOut.Analog[24] = IPartPitch /Ki; // meget meget lille. |
| DebugOut.Analog[25] = PDPartPitch; // omtrent lig ppart. |
| |
| DebugOut.Analog[26] = pitchAccNoisePeak; |
| DebugOut.Analog[27] = rollAccNoisePeak; |
| |
| DebugOut.Analog[30] = pitchGyroNoisePeak; |
| DebugOut.Analog[31] = rollGyroNoisePeak; |
| } |
| } |