WebSVN - FlightCtrl - Path Comparison - /branches/V0.68d Code Redesign killagreg Rev 850 and /branches/V0.68d CRK HexaLotte/ Rev 898

Ignore whitespace Rev 850 → Rev 898

 /branches/V0.68d CRK HexaLotte/GPS.c
 ,8 → 134,8
                                 GPSPosDev_East  *= cos_target_latitude;
                                 GPSPosDev_East /= 8192;
-                        DebugOut.Analog[12] = GPSPosDev_North;
-                                DebugOut.Analog[13] = GPSPosDev_East;
+                        //DebugOut.Analog[12] = GPSPosDev_North;
+                                //DebugOut.Analog[13] = GPSPosDev_East;
                                 //DebugOut.Analog[12] = GPSInfo.velnorth;
                                 //DebugOut.Analog[13] = GPSInfo.veleast;
                         }
 ,7 → 375,7
                 GPSInfo.status = PROCESSED;
                 break;
         } // eof GPSInfo.status
-        DebugOut.Analog[14] = GPS_Pitch;
-        DebugOut.Analog[15] = GPS_Roll;
+        //DebugOut.Analog[14] = GPS_Pitch;
+        //DebugOut.Analog[15] = GPS_Roll;
 }

 /branches/V0.68d CRK HexaLotte/fc.c
 ,7 → 118,7
 int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
 // setpoints for motors
-volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
+volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
 // stick values derived by rc channels readings
 int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
 ,21 → 359,25
 {
     if(MOTOR_OFF || !MotorsOn)
     {
-        Motor_Rear = 0;
-        Motor_Front = 0;
+        Motor_RearLeft = 0;
+                Motor_RearRight = 0;
+        Motor_FrontLeft = 0;
+                Motor_FrontRight = 0;
         Motor_Right = 0;
         Motor_Left = 0;
-        if(MotorTest[0]) Motor_Front = MotorTest[0];
-        if(MotorTest[1]) Motor_Rear  = MotorTest[1];
+        if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0];
+        if(MotorTest[1]) Motor_RearLeft  = Motor_RearRight  = MotorTest[1];
         if(MotorTest[2]) Motor_Left  = MotorTest[2];
         if(MotorTest[3]) Motor_Right = MotorTest[3];
      }
-    //DebugOut.Analog[12] = Motor_Front;
-    //DebugOut.Analog[13] = Motor_Rear;
-    //DebugOut.Analog[14] = Motor_Left;
-    //DebugOut.Analog[15] = Motor_Right;
+    DebugOut.Analog[12] = Motor_FrontLeft;
+    DebugOut.Analog[13] = Motor_RearRight;
+    DebugOut.Analog[14] = Motor_FrontRight;
+    DebugOut.Analog[15] = Motor_RearLeft;
+    DebugOut.Analog[16] = Motor_Left;
+    DebugOut.Analog[17] = Motor_Right;
     //Start I2C Interrupt Mode
     twi_state = 0;
     motor = 0;
 ,7 → 428,7
 void MotorControl(void)
 {
         int16_t MotorValue, pd_result, h, tmp_int;
-        int16_t YawMixFraction, ThrustMixFraction;
+        int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction;
         static int32_t SumPitch = 0, SumRoll = 0;
         static int32_t SetPointYaw = 0;
         static int32_t IntegralErrorPitch = 0;
 ,7 → 891,7
                         Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
-                        DebugOut.Analog[17] = IntegralAccPitch / 26;
+                        // DebugOut.Analog[17] = IntegralAccPitch / 26;
                         DebugOut.Analog[18] = IntegralAccRoll / 26;
                         DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
                         DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
 ,7 → 1095,7
                 DebugOut.Analog[9]  = UBat;
                 DebugOut.Analog[10] = RC_Quality;
                 //DebugOut.Analog[11] = RC_Quality;
-                DebugOut.Analog[16] = Mean_AccTop;
+                //DebugOut.Analog[16] = Mean_AccTop;
                 /*    DebugOut.Analog[16] = motor_rx[0];
                 DebugOut.Analog[17] = motor_rx[1];
 ,6 → 1203,7
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Mixer and PI-Controller
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         DebugOut.Analog[7] = ThrustMixFraction;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Yaw-Fraction
 ,6 → 1216,7
     if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction));
     if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction));
     if(ThrustMixFraction < 20) YawMixFraction = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Pitch-Axis
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 ,20 → 1230,9
     tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
     if(pd_result >  tmp_int) pd_result =  tmp_int;
     if(pd_result < -tmp_int) pd_result = -tmp_int;
-        // Motor Front
-    MotorValue = ThrustMixFraction + pd_result + YawMixFraction;          // Mixer
-        if ((MotorValue < 0)) MotorValue = 0;
-        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
-        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
-        Motor_Front = MotorValue;
- // Motor Rear
-        MotorValue = ThrustMixFraction - pd_result + YawMixFraction;     // Mixer
-        if ((MotorValue < 0)) MotorValue = 0;
-        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
-        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
-        Motor_Rear = MotorValue;
+        PitchMixFraction = pd_result;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Roll-Axis
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 ,15 → 1246,62
     if(pd_result >  tmp_int) pd_result =  tmp_int;
     if(pd_result < -tmp_int) pd_result = -tmp_int;
+    RollMixFraction = pd_result;
+// Calculate Motor Mixes
+        // Motor FrontLeft
+    MotorValue =        ThrustMixFraction
+                                        + PitchMixFraction
+                                        + RollMixFraction/2
+                                        - YawMixFraction;         // Mixer
+        if ((MotorValue < 0)) MotorValue = 0;
+        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
+        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
+        Motor_FrontLeft = MotorValue;
+        // Motor FrontRight
+    MotorValue =        ThrustMixFraction
+                                        + PitchMixFraction
+                                        - RollMixFraction/2
+                                        + YawMixFraction;         // Mixer
+        if ((MotorValue < 0)) MotorValue = 0;
+        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
+        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
+        Motor_FrontRight = MotorValue;
+        // Motor RearLeft
+        MotorValue =    ThrustMixFraction
+                                        - PitchMixFraction
+                                        + RollMixFraction/2
+                                        - YawMixFraction;     // Mixer
+        if ((MotorValue < 0)) MotorValue = 0;
+        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
+        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
+        Motor_RearLeft = MotorValue;
+        // Motor RearRight
+        MotorValue =    ThrustMixFraction
+                                        - PitchMixFraction
+                                        - RollMixFraction/2
+                                        + YawMixFraction;     // Mixer
+        if ((MotorValue < 0)) MotorValue = 0;
+        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
+        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
+        Motor_RearRight= MotorValue;
     // Motor Left
-    MotorValue = ThrustMixFraction + pd_result - YawMixFraction;  // Mixer
+    MotorValue =        ThrustMixFraction
+                                        + RollMixFraction
+                                        + YawMixFraction;  // Mixer
         if ((MotorValue < 0)) MotorValue = 0;
         else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
         if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
     Motor_Left = MotorValue;
- // Motor Right
-        MotorValue = ThrustMixFraction - pd_result - YawMixFraction;  // Mixer
+        // Motor Right
+        MotorValue =    ThrustMixFraction
+                                        - RollMixFraction
+                                        - YawMixFraction;  // Mixer
         if ((MotorValue < 0)) MotorValue = 0;
         else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
         if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;

 /branches/V0.68d CRK HexaLotte/fc.h
 ,7 → 77,7
 extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
 // setpoints for motors
-extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
+extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; //used by twimaster isr
 // current stick values
 extern int16_t StickPitch, StickRoll, StickYaw;

 /branches/V0.68d CRK HexaLotte/makefile
 ,8 → 11,8
 VERSION_COMPATIBLE = 7  # PC-Kompatibilität
 #-------------------------------------------------------------------
 #OPTIONS
-COMPASS = MM3
-#COMPASS = CMPS03
+#COMPASS = _MM3
+#COMPASS = _CMPS03
 #EXT = WALTER
 #-------------------------------------------------------------------
 ,12 → 20,12
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
 #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
 # -u  bei neuen Controllern wieder einspielen
- HEX_NAME = MEGA644_$(COMPASS)
+ HEX_NAME = MEGA644$(COMPASS)
 endif
 ifeq ($(MCU), atmega644p)
  FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
- HEX_NAME = MEGA644p_$(COMPASS)
+ HEX_NAME = MEGA644p$(COMPASS)
 endif

 /branches/V0.68d CRK HexaLotte/spi.c
 ,7 → 44,7
    SPITransferCompleted = 0;
    UpdateSPI_Buffer();                              // update buffer
    SPI_BufferIndex = 1;
-   DebugOut.Analog[16]++;
+   // DebugOut.Analog[16]++;
    // -- Debug-Output ---
 /*         DebugOut.Analog[20] = FromNaviCtrl.Comp;
        DebugOut.Analog[21] = FromNaviCtrl.GPS_Pitch;

 /branches/V0.68d CRK HexaLotte/twimaster.c
 ,7 → 10,7
 volatile uint8_t twi_state = 0;
 volatile uint8_t motor = 0;
-volatile uint8_t motor_rx[8];
+volatile uint8_t motor_rx[12];
 /**************************************************/
 /*   Initialize I2C (TWI)                         */
 ,21 → 139,27
                 switch(motor++)
                     {
                     case 0:
-                            I2C_WriteByte(Motor_Front);
+                            I2C_WriteByte(Motor_FrontLeft);
                             break;
                     case 1:
-                            I2C_WriteByte(Motor_Rear);
+                            I2C_WriteByte(Motor_RearRight);
                             break;
                     case 2:
+                            I2C_WriteByte(Motor_FrontRight);
+                            break;
+                    case 3:
+                            I2C_WriteByte(Motor_RearLeft);
+                            break;
+                    case 4:
                             I2C_WriteByte(Motor_Right);
                             break;
-                    case 3:
+                    case 5:
                             I2C_WriteByte(Motor_Left);
                             break;
                     }
                 break;
         case 2: // repeat case 0+1 for all Slaves
-                if (motor<4) twi_state = 0;
+                if (motor<6) twi_state = 0;
                 I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive
                 break;
 ,9 → 177,9
                                 break;
         case 6:
                 //Read 2nd byte
-                                motor_rx[motorread+4] = TWDR;
+                                motor_rx[motorread+6] = TWDR;
                                 motorread++;
-                if (motorread > 3) motorread=0;
+                if (motorread > 5) motorread=0;
         default:
                 I2C_Stop();

 /branches/V0.68d CRK HexaLotte/twimaster.h
 ,7 → 22,7
 extern volatile uint8_t twi_state;
 extern volatile uint8_t motor;
 extern volatile uint8_t motorread;
-extern volatile uint8_t motor_rx[8];
+extern volatile uint8_t motor_rx[12];
 extern void I2C_Init (void);  // Initialize I2C
 extern void I2C_Start (void); // Start I2C

 /branches/V0.68d CRK HexaLotte/uart.c
 ,12 → 63,12
     "Voltage         ",
     "Receiver Level  ", //10
     "AnalogOut11     ",
-    "GPSDevNorth     ",
-    "GPSDevEast      ",
-    "GPS_Pitch       ",
-    "GPS_Roll        ", //15
-    "Acc_Z           ",
-    "MeanAccPitch    ",
+    "Motor VL        ",
+    "Motor RR        ",
+    "Motor VR        ",
+    "Motor RL        ", //15
+    "Motor Left      ",
+    "Motor Right     ",
     "MeanAccRoll     ",
     "IntegralErrPitch",
     "IntegralErrRoll ", //20

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Ignore whitespace Rev 850 → Rev 898