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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 04.2007 Holger Buss |
5 | // + Copyright (c) 04.2007 Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + POSSIBILITY OF SUCH DAMAGE. |
52 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | #include <stdlib.h> |
54 | #include <stdlib.h> |
55 | #include <avr/io.h> |
55 | #include <avr/io.h> |
56 | 56 | ||
57 | #include "main.h" |
57 | #include "main.h" |
58 | #include "eeprom.h" |
58 | #include "eeprom.h" |
59 | #include "timer0.h" |
59 | #include "timer0.h" |
60 | #include "_Settings.h" |
60 | #include "_Settings.h" |
61 | #include "analog.h" |
61 | #include "analog.h" |
62 | #include "fc.h" |
62 | #include "fc.h" |
63 | #include "gps.h" |
63 | #include "gps.h" |
64 | #include "uart.h" |
64 | #include "uart.h" |
65 | #include "rc.h" |
65 | #include "rc.h" |
66 | #include "twimaster.h" |
66 | #include "twimaster.h" |
67 | #include "mm3.h" |
67 | #include "mm3.h" |
68 | 68 | ||
69 | 69 | ||
70 | volatile unsigned int I2CTimeout = 100; |
70 | volatile unsigned int I2CTimeout = 100; |
71 | // gyro readings |
71 | // gyro readings |
72 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
72 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
73 | // gyro neutral readings |
73 | // gyro neutral readings |
74 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
74 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
75 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
75 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
76 | // mean accelerations |
76 | // mean accelerations |
77 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
77 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
78 | 78 | ||
79 | // neutral acceleration readings |
79 | // neutral acceleration readings |
80 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
80 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
81 | volatile float NeutralAccZ = 0; |
81 | volatile float NeutralAccZ = 0; |
82 | 82 | ||
83 | // attitude gyro integrals |
83 | // attitude gyro integrals |
84 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
84 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
85 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
85 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
86 | volatile int32_t IntegralYaw = 0; |
86 | volatile int32_t IntegralYaw = 0; |
87 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
87 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
88 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
88 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
89 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
89 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
90 | volatile int32_t MeanIntegralPitch; |
90 | volatile int32_t MeanIntegralPitch; |
91 | volatile int32_t MeanIntegralRoll; |
91 | volatile int32_t MeanIntegralRoll; |
92 | 92 | ||
93 | // attitude acceleration integrals |
93 | // attitude acceleration integrals |
94 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0; |
94 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0; |
95 | volatile int32_t Reading_Integral_Top = 0; |
95 | volatile int32_t Reading_Integral_Top = 0; |
96 | 96 | ||
97 | // compass course |
97 | // compass course |
98 | volatile int16_t CompassHeading = 0; |
98 | volatile int16_t CompassHeading = 0; |
99 | volatile int16_t CompassCourse = 0; |
99 | volatile int16_t CompassCourse = 0; |
100 | volatile int16_t CompassOffCourse = 0; |
100 | volatile int16_t CompassOffCourse = 0; |
101 | 101 | ||
102 | // flags |
102 | // flags |
103 | uint8_t MotorsOn = 0; |
103 | uint8_t MotorsOn = 0; |
- | 104 | uint8_t EmergencyLanding = 0; |
|
104 | 105 | ||
105 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
106 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
106 | 107 | ||
107 | float Gyro_P_Factor; |
108 | float Gyro_P_Factor; |
108 | float Gyro_I_Factor; |
109 | float Gyro_I_Factor; |
109 | 110 | ||
110 | volatile int16_t DiffPitch, DiffRoll; |
111 | volatile int16_t DiffPitch, DiffRoll; |
111 | 112 | ||
112 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
113 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
113 | 114 | ||
114 | // setpoints for motors |
115 | // setpoints for motors |
115 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
116 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
116 | 117 | ||
117 | // stick values derived by rc channels readings |
118 | // stick values derived by rc channels readings |
118 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
119 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
119 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
120 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
120 | // stick values derived by uart inputs |
121 | // stick values derived by uart inputs |
121 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
122 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
122 | 123 | ||
123 | 124 | ||
124 | 125 | ||
125 | 126 | ||
126 | int16_t ReadingHight = 0; |
127 | int16_t ReadingHight = 0; |
127 | int16_t SetPointHight = 0; |
128 | int16_t SetPointHight = 0; |
128 | 129 | ||
129 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
130 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
130 | 131 | ||
131 | float Ki = FACTOR_I; |
132 | float Ki = FACTOR_I; |
132 | 133 | ||
133 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
134 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
134 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
135 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
135 | 136 | ||
136 | 137 | ||
137 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
138 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
138 | 139 | ||
139 | 140 | ||
140 | /************************************************************************/ |
141 | /************************************************************************/ |
141 | /* Creates numbeeps beeps at the speaker */ |
142 | /* Creates numbeeps beeps at the speaker */ |
142 | /************************************************************************/ |
143 | /************************************************************************/ |
143 | void Beep(uint8_t numbeeps) |
144 | void Beep(uint8_t numbeeps) |
144 | { |
145 | { |
145 | while(numbeeps--) |
146 | while(numbeeps--) |
146 | { |
147 | { |
147 | if(MotorsOn) return; //auf keinen Fall im Flug! |
148 | if(MotorsOn) return; //auf keinen Fall im Flug! |
148 | BeepTime = 100; // 0.1 second |
149 | BeepTime = 100; // 0.1 second |
149 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
150 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
150 | // this will block the flight control loop, |
151 | // this will block the flight control loop, |
151 | // therefore do not use this funktion if motors are running |
152 | // therefore do not use this funktion if motors are running |
152 | } |
153 | } |
153 | } |
154 | } |
154 | 155 | ||
155 | /************************************************************************/ |
156 | /************************************************************************/ |
156 | /* Neutral Readings */ |
157 | /* Neutral Readings */ |
157 | /************************************************************************/ |
158 | /************************************************************************/ |
158 | void SetNeutral(void) |
159 | void SetNeutral(void) |
159 | { |
160 | { |
160 | NeutralAccX = 0; |
161 | NeutralAccX = 0; |
161 | NeutralAccY = 0; |
162 | NeutralAccY = 0; |
162 | NeutralAccZ = 0; |
163 | NeutralAccZ = 0; |
163 | AdNeutralPitch = 0; |
164 | AdNeutralPitch = 0; |
164 | AdNeutralRoll = 0; |
165 | AdNeutralRoll = 0; |
165 | AdNeutralYaw = 0; |
166 | AdNeutralYaw = 0; |
166 | FCParam.Yaw_PosFeedback = 0; |
167 | FCParam.Yaw_PosFeedback = 0; |
167 | FCParam.Yaw_NegFeedback = 0; |
168 | FCParam.Yaw_NegFeedback = 0; |
168 | CalibMean(); |
169 | CalibMean(); |
169 | Delay_ms_Mess(100); |
170 | Delay_ms_Mess(100); |
170 | CalibMean(); |
171 | CalibMean(); |
171 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
172 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
172 | { |
173 | { |
173 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
174 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
174 | } |
175 | } |
175 | AdNeutralPitch = AdValueGyrPitch; |
176 | AdNeutralPitch = AdValueGyrPitch; |
176 | AdNeutralRoll = AdValueGyrRoll; |
177 | AdNeutralRoll = AdValueGyrRoll; |
177 | AdNeutralYaw = AdValueGyrYaw; |
178 | AdNeutralYaw = AdValueGyrYaw; |
178 | StartNeutralRoll = AdNeutralRoll; |
179 | StartNeutralRoll = AdNeutralRoll; |
179 | StartNeutralPitch = AdNeutralPitch; |
180 | StartNeutralPitch = AdNeutralPitch; |
180 | if(GetParamByte(PID_ACC_PITCH) > 4) |
181 | if(GetParamByte(PID_ACC_PITCH) > 4) |
181 | { |
182 | { |
182 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
183 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
183 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
184 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
184 | NeutralAccZ = Current_AccZ; |
185 | NeutralAccZ = Current_AccZ; |
185 | } |
186 | } |
186 | else |
187 | else |
187 | { |
188 | { |
188 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
189 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
189 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
190 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
190 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
191 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
191 | } |
192 | } |
192 | Reading_IntegralGyroPitch = 0; |
193 | Reading_IntegralGyroPitch = 0; |
193 | Reading_IntegralGyroPitch2 = 0; |
194 | Reading_IntegralGyroPitch2 = 0; |
194 | Reading_IntegralGyroRoll = 0; |
195 | Reading_IntegralGyroRoll = 0; |
195 | Reading_IntegralGyroRoll2 = 0; |
196 | Reading_IntegralGyroRoll2 = 0; |
196 | Reading_IntegralGyroYaw = 0; |
197 | Reading_IntegralGyroYaw = 0; |
197 | Reading_GyroPitch = 0; |
198 | Reading_GyroPitch = 0; |
198 | Reading_GyroRoll = 0; |
199 | Reading_GyroRoll = 0; |
199 | Reading_GyroYaw = 0; |
200 | Reading_GyroYaw = 0; |
200 | StartAirPressure = AirPressure; |
201 | StartAirPressure = AirPressure; |
201 | HightD = 0; |
202 | HightD = 0; |
202 | Reading_Integral_Top = 0; |
203 | Reading_Integral_Top = 0; |
203 | CompassCourse = CompassHeading; |
204 | CompassCourse = CompassHeading; |
204 | BeepTime = 50; |
205 | BeepTime = 50; |
205 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
206 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
206 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
207 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
207 | ExternHightValue = 0; |
208 | ExternHightValue = 0; |
208 | GPS_Pitch = 0; |
209 | GPS_Pitch = 0; |
209 | GPS_Roll = 0; |
210 | GPS_Roll = 0; |
210 | } |
211 | } |
211 | 212 | ||
212 | /************************************************************************/ |
213 | /************************************************************************/ |
213 | /* Averaging Measurement Readings */ |
214 | /* Averaging Measurement Readings */ |
214 | /************************************************************************/ |
215 | /************************************************************************/ |
215 | void Mean(void) |
216 | void Mean(void) |
216 | { |
217 | { |
217 | static int32_t tmpl,tmpl2; |
218 | static int32_t tmpl,tmpl2; |
218 | 219 | ||
219 | // Get offset corrected gyro readings (~ to angular velocity) |
220 | // Get offset corrected gyro readings (~ to angular velocity) |
220 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
221 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
221 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
222 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
222 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
223 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
223 | 224 | ||
224 | DebugOut.Analog[26] = Reading_GyroPitch; |
225 | DebugOut.Analog[26] = Reading_GyroPitch; |
225 | DebugOut.Analog[28] = Reading_GyroRoll; |
226 | DebugOut.Analog[28] = Reading_GyroRoll; |
226 | 227 | ||
227 | // Acceleration Sensor |
228 | // Acceleration Sensor |
228 | // sliding average sensor readings |
229 | // sliding average sensor readings |
229 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
230 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
230 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
231 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
231 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
232 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
232 | 233 | ||
233 | // sum sensor readings for later averaging |
234 | // sum sensor readings for later averaging |
234 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
235 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
235 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
236 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
236 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
237 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
237 | 238 | ||
238 | // Yaw |
239 | // Yaw |
239 | // calculate yaw gyro intergral (~ to rotation angle) |
240 | // calculate yaw gyro intergral (~ to rotation angle) |
240 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
241 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
241 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
242 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
242 | // Coupling fraction |
243 | // Coupling fraction |
243 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
244 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
244 | { |
245 | { |
245 | tmpl = Reading_IntegralGyroPitch / 4096L; |
246 | tmpl = Reading_IntegralGyroPitch / 4096L; |
246 | tmpl *= Reading_GyroYaw; |
247 | tmpl *= Reading_GyroYaw; |
247 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
248 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
248 | tmpl /= 2048L; |
249 | tmpl /= 2048L; |
249 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
250 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
250 | tmpl2 *= Reading_GyroYaw; |
251 | tmpl2 *= Reading_GyroYaw; |
251 | tmpl2 *= FCParam.Yaw_PosFeedback; |
252 | tmpl2 *= FCParam.Yaw_PosFeedback; |
252 | tmpl2 /= 2048L; |
253 | tmpl2 /= 2048L; |
253 | } |
254 | } |
254 | else tmpl = tmpl2 = 0; |
255 | else tmpl = tmpl2 = 0; |
255 | 256 | ||
256 | // Roll |
257 | // Roll |
257 | Reading_GyroRoll += tmpl; |
258 | Reading_GyroRoll += tmpl; |
258 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
259 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
259 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
260 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
260 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
261 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
261 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
262 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
262 | { |
263 | { |
263 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
264 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
264 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
265 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
265 | } |
266 | } |
266 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
267 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
267 | { |
268 | { |
268 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
269 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
269 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
270 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
270 | } |
271 | } |
271 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
272 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
272 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
273 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
273 | if(BoardRelease == 10) |
274 | if(BoardRelease == 10) |
274 | { |
275 | { |
275 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
276 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
276 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
277 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
277 | } |
278 | } |
278 | else |
279 | else |
279 | { |
280 | { |
280 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
281 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
281 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
282 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
282 | } |
283 | } |
283 | // Pitch |
284 | // Pitch |
284 | Reading_GyroPitch -= tmpl2; |
285 | Reading_GyroPitch -= tmpl2; |
285 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
286 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
286 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
287 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
287 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
288 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
288 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
289 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
289 | { |
290 | { |
290 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
291 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
291 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
292 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
292 | } |
293 | } |
293 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
294 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
294 | { |
295 | { |
295 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
296 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
296 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
297 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
297 | } |
298 | } |
298 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
299 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
299 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
300 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
300 | if(BoardRelease == 10) |
301 | if(BoardRelease == 10) |
301 | { |
302 | { |
302 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
303 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
303 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
304 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
304 | } |
305 | } |
305 | else |
306 | else |
306 | { |
307 | { |
307 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
308 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
308 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
309 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
309 | } |
310 | } |
310 | 311 | ||
311 | // start ADC |
312 | // start ADC |
312 | ADC_Enable(); |
313 | ADC_Enable(); |
313 | 314 | ||
314 | IntegralYaw = Reading_IntegralGyroYaw; |
315 | IntegralYaw = Reading_IntegralGyroYaw; |
315 | IntegralPitch = Reading_IntegralGyroPitch; |
316 | IntegralPitch = Reading_IntegralGyroPitch; |
316 | IntegralRoll = Reading_IntegralGyroRoll; |
317 | IntegralRoll = Reading_IntegralGyroRoll; |
317 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
318 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
318 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
319 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
319 | 320 | ||
320 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
321 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
321 | { |
322 | { |
322 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
323 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
323 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
324 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
324 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
325 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
325 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
326 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
326 | } |
327 | } |
327 | //update poti values by rc-signals |
328 | //update poti values by rc-signals |
328 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
329 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
329 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
330 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
330 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
331 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
331 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
332 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
332 | //limit poti values |
333 | //limit poti values |
333 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
334 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
334 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
335 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
335 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
336 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
336 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
337 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
337 | } |
338 | } |
338 | 339 | ||
339 | /************************************************************************/ |
340 | /************************************************************************/ |
340 | /* Averaging Measurement Readings for Calibration */ |
341 | /* Averaging Measurement Readings for Calibration */ |
341 | /************************************************************************/ |
342 | /************************************************************************/ |
342 | void CalibMean(void) |
343 | void CalibMean(void) |
343 | { |
344 | { |
344 | // stop ADC to avoid changing values during calculation |
345 | // stop ADC to avoid changing values during calculation |
345 | ADC_Disable(); |
346 | ADC_Disable(); |
346 | 347 | ||
347 | Reading_GyroPitch = AdValueGyrPitch; |
348 | Reading_GyroPitch = AdValueGyrPitch; |
348 | Reading_GyroRoll = AdValueGyrRoll; |
349 | Reading_GyroRoll = AdValueGyrRoll; |
349 | Reading_GyroYaw = AdValueGyrYaw; |
350 | Reading_GyroYaw = AdValueGyrYaw; |
350 | 351 | ||
351 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
352 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
352 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
353 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
353 | Mean_AccTop = (int32_t)AdValueAccTop; |
354 | Mean_AccTop = (int32_t)AdValueAccTop; |
354 | // start ADC |
355 | // start ADC |
355 | ADC_Enable(); |
356 | ADC_Enable(); |
356 | //update poti values by rc-signals (why not +127?) |
357 | //update poti values by rc-signals (why not +127?) |
357 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
358 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
358 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
359 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
359 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
360 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
360 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
361 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
361 | //limit poti values |
362 | //limit poti values |
362 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
363 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
363 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
364 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
364 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
365 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
365 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
366 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
366 | 367 | ||
367 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
368 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
368 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
369 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
369 | } |
370 | } |
370 | 371 | ||
371 | /************************************************************************/ |
372 | /************************************************************************/ |
372 | /* Transmit Motor Data via I2C */ |
373 | /* Transmit Motor Data via I2C */ |
373 | /************************************************************************/ |
374 | /************************************************************************/ |
374 | void SendMotorData(void) |
375 | void SendMotorData(void) |
375 | { |
376 | { |
376 | if(MOTOR_OFF || !MotorsOn) |
377 | if(MOTOR_OFF || !MotorsOn) |
377 | { |
378 | { |
378 | Motor_Rear = 0; |
379 | Motor_Rear = 0; |
379 | Motor_Front = 0; |
380 | Motor_Front = 0; |
380 | Motor_Right = 0; |
381 | Motor_Right = 0; |
381 | Motor_Left = 0; |
382 | Motor_Left = 0; |
382 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
383 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
383 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
384 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
384 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
385 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
385 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
386 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
386 | } |
387 | } |
387 | 388 | ||
388 | DebugOut.Analog[12] = Motor_Front; |
389 | DebugOut.Analog[12] = Motor_Front; |
389 | DebugOut.Analog[13] = Motor_Rear; |
390 | DebugOut.Analog[13] = Motor_Rear; |
390 | DebugOut.Analog[14] = Motor_Left; |
391 | DebugOut.Analog[14] = Motor_Left; |
391 | DebugOut.Analog[15] = Motor_Right; |
392 | DebugOut.Analog[15] = Motor_Right; |
392 | 393 | ||
393 | //Start I2C Interrupt Mode |
394 | //Start I2C Interrupt Mode |
394 | twi_state = 0; |
395 | twi_state = 0; |
395 | motor = 0; |
396 | motor = 0; |
396 | I2C_Start(); |
397 | I2C_Start(); |
397 | } |
398 | } |
398 | 399 | ||
399 | 400 | ||
400 | 401 | ||
401 | /************************************************************************/ |
402 | /************************************************************************/ |
402 | /* Maps the parameter to poti values */ |
403 | /* Maps the parameter to poti values */ |
403 | /************************************************************************/ |
404 | /************************************************************************/ |
404 | void ParameterMapping(void) |
405 | void ParameterMapping(void) |
405 | { |
406 | { |
406 | 407 | ||
407 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
408 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
408 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
409 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
409 | CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
410 | CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
410 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
411 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
411 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
412 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
412 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
413 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
413 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
414 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
414 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
415 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
415 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
416 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
416 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
417 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
417 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
418 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
418 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
419 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
419 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
420 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
420 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
421 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
421 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
422 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
422 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
423 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
423 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
424 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
424 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
425 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
425 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
426 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
426 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
427 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
427 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
428 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
428 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
429 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
429 | 430 | ||
430 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
431 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
431 | } |
432 | } |
432 | 433 | ||
433 | 434 | ||
434 | /************************************************************************/ |
435 | /************************************************************************/ |
435 | /* MotorControl */ |
436 | /* MotorControl */ |
436 | /************************************************************************/ |
437 | /************************************************************************/ |
437 | void MotorControl(void) |
438 | void MotorControl(void) |
438 | { |
439 | { |
439 | int16_t MotorValue, pd_result, h, tmp_int; |
440 | int16_t MotorValue, pd_result, h, tmp_int; |
440 | int16_t YawMixFraction, ThrustMixFraction; |
441 | int16_t YawMixFraction, ThrustMixFraction; |
441 | static int32_t SumPitch = 0, SumRoll = 0; |
442 | static int32_t SumPitch = 0, SumRoll = 0; |
442 | static int32_t SetPointYaw = 0; |
443 | static int32_t SetPointYaw = 0; |
443 | static int32_t IntegralErrorPitch = 0; |
444 | static int32_t IntegralErrorPitch = 0; |
444 | static int32_t IntegralErrorRoll = 0; |
445 | static int32_t IntegralErrorRoll = 0; |
445 | static uint16_t RcLostTimer; |
446 | static uint16_t RcLostTimer; |
446 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
447 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
447 | static uint16_t Modell_Is_Flying = 0; |
448 | static uint16_t Modell_Is_Flying = 0; |
448 | static uint8_t EmergencyLanding = 0; |
- | |
449 | static uint8_t HightControlActive = 0; |
449 | static uint8_t HightControlActive = 0; |
450 | static int16_t HightControlThrust = 0; |
450 | static int16_t HightControlThrust = 0; |
451 | static int8_t TimerDebugOut = 0; |
451 | static int8_t TimerDebugOut = 0; |
452 | static int8_t StoreNewCompassCourse = 0; |
452 | static int8_t StoreNewCompassCourse = 0; |
453 | static int32_t CorrectionPitch, CorrectionRoll; |
453 | static int32_t CorrectionPitch, CorrectionRoll; |
454 | 454 | ||
455 | Mean(); |
455 | Mean(); |
456 | 456 | ||
457 | GRN_ON; |
457 | GRN_ON; |
458 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
458 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
459 | // determine thrust value |
459 | // determine thrust value |
460 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
460 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
461 | ThrustMixFraction = StickThrust; |
461 | ThrustMixFraction = StickThrust; |
462 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
462 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
463 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
463 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
464 | // RC-signal is bad |
464 | // RC-signal is bad |
465 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
465 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
466 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
466 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
467 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
467 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
468 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
468 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
469 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
469 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
470 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
470 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
471 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
471 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
472 | { |
472 | { |
473 | if(!PcAccess) // if also no PC-Access via UART |
473 | if(!PcAccess) // if also no PC-Access via UART |
474 | { |
474 | { |
475 | if(BeepModulation == 0xFFFF) |
475 | if(BeepModulation == 0xFFFF) |
476 | { |
476 | { |
477 | BeepTime = 15000; // 1.5 seconds |
477 | BeepTime = 15000; // 1.5 seconds |
478 | BeepModulation = 0x0C00; |
478 | BeepModulation = 0x0C00; |
479 | } |
479 | } |
480 | } |
480 | } |
481 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
481 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
482 | else // rc lost countdown finished |
482 | else // rc lost countdown finished |
483 | { |
483 | { |
484 | MotorsOn = 0; // stop all motors |
484 | MotorsOn = 0; // stop all motors |
485 | EmergencyLanding = 0; // emergency landing is over |
485 | EmergencyLanding = 0; // emergency landing is over |
486 | } |
486 | } |
487 | ROT_ON; // set red led |
487 | ROT_ON; // set red led |
488 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
488 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
489 | { |
489 | { |
490 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
490 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
491 | EmergencyLanding = 1; // enable emergency landing |
491 | EmergencyLanding = 1; // enable emergency landing |
492 | // set neutral rc inputs |
492 | // set neutral rc inputs |
493 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
493 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
494 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
494 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
495 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
495 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
496 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
496 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
497 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
497 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
498 | } |
498 | } |
499 | else MotorsOn = 0; // switch of all motors |
499 | else MotorsOn = 0; // switch of all motors |
500 | } |
500 | } |
501 | else |
501 | else |
502 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
502 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
503 | // RC-signal is good |
503 | // RC-signal is good |
504 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
504 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
505 | if(SenderOkay > 140) |
505 | if(SenderOkay > 140) |
506 | { |
506 | { |
507 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
507 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
508 | // reset emergency timer |
508 | // reset emergency timer |
509 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
509 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
510 | if(ThrustMixFraction > 40) |
510 | if(ThrustMixFraction > 40) |
511 | { |
511 | { |
512 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
512 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
513 | } |
513 | } |
514 | if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
514 | if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
515 | { |
515 | { |
516 | SumPitch = 0; |
516 | SumPitch = 0; |
517 | SumRoll = 0; |
517 | SumRoll = 0; |
518 | Reading_IntegralGyroYaw = 0; |
518 | Reading_IntegralGyroYaw = 0; |
519 | Reading_IntegralGyroYaw2 = 0; |
519 | Reading_IntegralGyroYaw2 = 0; |
520 | } |
520 | } |
521 | // if motors are off and the thrust stick is in the upper position |
521 | // if motors are off and the thrust stick is in the upper position |
522 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
522 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
523 | { |
523 | { |
524 | // and if the yaw stick is in the leftmost position |
524 | // and if the yaw stick is in the leftmost position |
525 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
525 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
526 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
526 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
527 | // calibrate the neutral readings of all attitude sensors |
527 | // calibrate the neutral readings of all attitude sensors |
528 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
528 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
529 | { |
529 | { |
530 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
530 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
531 | { |
531 | { |
532 | delay_neutral = 0; |
532 | delay_neutral = 0; |
533 | GRN_OFF; |
533 | GRN_OFF; |
534 | Modell_Is_Flying = 0; |
534 | Modell_Is_Flying = 0; |
535 | // check roll/pitch stick position |
535 | // check roll/pitch stick position |
536 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
536 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
537 | // according to roll/pitch stick position |
537 | // according to roll/pitch stick position |
538 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
538 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
539 | { |
539 | { |
540 | uint8_t setting = 1; // default |
540 | uint8_t setting = 1; // default |
541 | // _________ |
541 | // _________ |
542 | // |2 3 4| |
542 | // |2 3 4| |
543 | // | | |
543 | // | | |
544 | // |1 5| |
544 | // |1 5| |
545 | // | | |
545 | // | | |
546 | // |_________| |
546 | // |_________| |
547 | // |
547 | // |
548 | // roll stick leftmost and pitch stick centered --> setting 1 |
548 | // roll stick leftmost and pitch stick centered --> setting 1 |
549 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
549 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
550 | // roll stick leftmost and pitch stick topmost --> setting 2 |
550 | // roll stick leftmost and pitch stick topmost --> setting 2 |
551 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
551 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
552 | // roll stick centered an pitch stick topmost --> setting 3 |
552 | // roll stick centered an pitch stick topmost --> setting 3 |
553 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
553 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
554 | // roll stick rightmost and pitch stick topmost --> setting 4 |
554 | // roll stick rightmost and pitch stick topmost --> setting 4 |
555 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
555 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
556 | // roll stick rightmost and pitch stick centered --> setting 5 |
556 | // roll stick rightmost and pitch stick centered --> setting 5 |
557 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
557 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
558 | // update active parameter set in eeprom |
558 | // update active parameter set in eeprom |
559 | SetActiveParamSet(setting); |
559 | SetActiveParamSet(setting); |
560 | } |
560 | } |
561 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
561 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
562 | SetNeutral(); |
562 | SetNeutral(); |
563 | Beep(GetActiveParamSet()); |
563 | Beep(GetActiveParamSet()); |
564 | } |
564 | } |
565 | } |
565 | } |
566 | // and if the yaw stick is in the rightmost position |
566 | // and if the yaw stick is in the rightmost position |
567 | // save the ACC neutral setting to eeprom |
567 | // save the ACC neutral setting to eeprom |
568 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
568 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
569 | { |
569 | { |
570 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
570 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
571 | { |
571 | { |
572 | delay_neutral = 0; |
572 | delay_neutral = 0; |
573 | GRN_OFF; |
573 | GRN_OFF; |
574 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
574 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
575 | Modell_Is_Flying = 0; |
575 | Modell_Is_Flying = 0; |
576 | SetNeutral(); |
576 | SetNeutral(); |
577 | // Save ACC neutral settings to eeprom |
577 | // Save ACC neutral settings to eeprom |
578 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
578 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
579 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
579 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
580 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
580 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
581 | Beep(GetActiveParamSet()); |
581 | Beep(GetActiveParamSet()); |
582 | } |
582 | } |
583 | } |
583 | } |
584 | else delay_neutral = 0; |
584 | else delay_neutral = 0; |
585 | } |
585 | } |
586 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
586 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
587 | // thrust stick is down |
587 | // thrust stick is down |
588 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
588 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
589 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
589 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
590 | { |
590 | { |
591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
592 | // and yaw stick is rightmost --> start motors |
592 | // and yaw stick is rightmost --> start motors |
593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
594 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
594 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
595 | { |
595 | { |
596 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
596 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
597 | { |
597 | { |
598 | delay_startmotors = 200; // do not repeat if once executed |
598 | delay_startmotors = 200; // do not repeat if once executed |
599 | Modell_Is_Flying = 1; |
599 | Modell_Is_Flying = 1; |
600 | MotorsOn = 1; |
600 | MotorsOn = 1; |
601 | SetPointYaw = 0; |
601 | SetPointYaw = 0; |
602 | Reading_IntegralGyroYaw = 0; |
602 | Reading_IntegralGyroYaw = 0; |
603 | Reading_IntegralGyroYaw2 = 0; |
603 | Reading_IntegralGyroYaw2 = 0; |
604 | Reading_IntegralGyroPitch = 0; |
604 | Reading_IntegralGyroPitch = 0; |
605 | Reading_IntegralGyroRoll = 0; |
605 | Reading_IntegralGyroRoll = 0; |
606 | Reading_IntegralGyroPitch2 = IntegralPitch; |
606 | Reading_IntegralGyroPitch2 = IntegralPitch; |
607 | Reading_IntegralGyroRoll2 = IntegralRoll; |
607 | Reading_IntegralGyroRoll2 = IntegralRoll; |
608 | SumPitch = 0; |
608 | SumPitch = 0; |
609 | SumRoll = 0; |
609 | SumRoll = 0; |
610 | } |
610 | } |
611 | } |
611 | } |
612 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
612 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
614 | // and yaw stick is leftmost --> stop motors |
614 | // and yaw stick is leftmost --> stop motors |
615 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
615 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
616 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
616 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
617 | { |
617 | { |
618 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
618 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
619 | { |
619 | { |
620 | delay_stopmotors = 200; // do not repeat if once executed |
620 | delay_stopmotors = 200; // do not repeat if once executed |
621 | Modell_Is_Flying = 0; |
621 | Modell_Is_Flying = 0; |
622 | MotorsOn = 0; |
622 | MotorsOn = 0; |
623 | 623 | ||
624 | } |
624 | } |
625 | } |
625 | } |
626 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
626 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
627 | } |
627 | } |
628 | } |
628 | } |
629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
630 | // new values from RC |
630 | // new values from RC |
631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
632 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
632 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
633 | { |
633 | { |
634 | int tmp_int; |
634 | int tmp_int; |
635 | ParameterMapping(); // remapping params (online poti replacement) |
635 | ParameterMapping(); // remapping params (online poti replacement) |
636 | 636 | ||
637 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
637 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
638 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
638 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
639 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
639 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
640 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
640 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
641 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
641 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
642 | 642 | ||
643 | // direct mapping of yaw and thrust |
643 | // direct mapping of yaw and thrust |
644 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
644 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
645 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
645 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
646 | 646 | ||
647 | // update max stick positions for pitch, roll and yaw |
647 | // update max stick positions for pitch, roll and yaw |
648 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
648 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
649 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
649 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
650 | else MaxStickPitch--; |
650 | else MaxStickPitch--; |
651 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
651 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
652 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
652 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
653 | else MaxStickRoll--; |
653 | else MaxStickRoll--; |
654 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
654 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
655 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
655 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
656 | else MaxStickYaw--; |
656 | else MaxStickYaw--; |
657 | 657 | ||
658 | // update gyro control loop factors |
658 | // update gyro control loop factors |
659 | 659 | ||
660 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
660 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
661 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
661 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
662 | 662 | ||
663 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
664 | // Digital Control via DubWise |
664 | // Digital Control via DubWise |
665 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
666 | 666 | ||
667 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
667 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
668 | if(DubWiseKeys[1]) BeepTime = 10; |
668 | if(DubWiseKeys[1]) BeepTime = 10; |
669 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
669 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
670 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
670 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
671 | else tmp_int = 0; |
671 | else tmp_int = 0; |
672 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
672 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
673 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
673 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
674 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
674 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
675 | else tmp_int = 0; |
675 | else tmp_int = 0; |
676 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
676 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
677 | 677 | ||
678 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
678 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
679 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
679 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
680 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
680 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
681 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
681 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
682 | 682 | ||
683 | StickPitch += ExternStickPitch / 8; |
683 | StickPitch += ExternStickPitch / 8; |
684 | StickRoll += ExternStickRoll / 8; |
684 | StickRoll += ExternStickRoll / 8; |
685 | StickYaw += ExternStickYaw; |
685 | StickYaw += ExternStickYaw; |
686 | 686 | ||
687 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
688 | //+ Analoge Control via serial communication |
688 | //+ Analoge Control via serial communication |
689 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | 690 | ||
691 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
691 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
692 | { |
692 | { |
693 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
693 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
694 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
694 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
695 | StickYaw += ExternControl.Yaw; |
695 | StickYaw += ExternControl.Yaw; |
696 | ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
696 | ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
697 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
697 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
698 | } |
698 | } |
699 | // disable I part of gyro control feedback |
699 | // disable I part of gyro control feedback |
700 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
700 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
701 | // avoid negative scaling factors |
701 | // avoid negative scaling factors |
702 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
702 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
703 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
703 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
704 | 704 | ||
705 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
705 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | // Looping? |
706 | // Looping? |
707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
708 | 708 | ||
709 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
709 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
710 | else |
710 | else |
711 | { |
711 | { |
712 | { |
712 | { |
713 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
713 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
714 | } |
714 | } |
715 | } |
715 | } |
716 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
716 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
717 | else |
717 | else |
718 | { |
718 | { |
719 | if(Looping_Right) // Hysterese |
719 | if(Looping_Right) // Hysterese |
720 | { |
720 | { |
721 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
721 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
722 | } |
722 | } |
723 | } |
723 | } |
724 | 724 | ||
725 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
725 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
726 | else |
726 | else |
727 | { |
727 | { |
728 | if(Looping_Top) // Hysterese |
728 | if(Looping_Top) // Hysterese |
729 | { |
729 | { |
730 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
730 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
731 | } |
731 | } |
732 | } |
732 | } |
733 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
733 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
734 | else |
734 | else |
735 | { |
735 | { |
736 | if(Looping_Down) // Hysterese |
736 | if(Looping_Down) // Hysterese |
737 | { |
737 | { |
738 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
738 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
739 | } |
739 | } |
740 | } |
740 | } |
741 | 741 | ||
742 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
742 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
743 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
743 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
744 | } // End of new RC-Values or Emergency Landing |
744 | } // End of new RC-Values or Emergency Landing |
745 | 745 | ||
746 | 746 | ||
747 | if(Looping_Roll) BeepTime = 100; |
747 | if(Looping_Roll) BeepTime = 100; |
748 | if(Looping_Roll || Looping_Pitch) |
748 | if(Looping_Roll || Looping_Pitch) |
749 | { |
749 | { |
750 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
750 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
751 | } |
751 | } |
752 | 752 | ||
753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
754 | // in case of emergency landing |
754 | // in case of emergency landing |
755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
756 | // set all inputs to save values |
756 | // set all inputs to save values |
757 | if(EmergencyLanding) |
757 | if(EmergencyLanding) |
758 | { |
758 | { |
759 | StickYaw = 0; |
759 | StickYaw = 0; |
760 | StickPitch = 0; |
760 | StickPitch = 0; |
761 | StickRoll = 0; |
761 | StickRoll = 0; |
762 | Gyro_P_Factor = 0.5; |
762 | Gyro_P_Factor = 0.5; |
763 | Gyro_I_Factor = 0.003; |
763 | Gyro_I_Factor = 0.003; |
764 | Looping_Roll = 0; |
764 | Looping_Roll = 0; |
765 | Looping_Pitch = 0; |
765 | Looping_Pitch = 0; |
766 | MaxStickPitch = 0; |
766 | MaxStickPitch = 0; |
767 | MaxStickRoll = 0; |
767 | MaxStickRoll = 0; |
768 | MaxStickYaw = 0; |
768 | MaxStickYaw = 0; |
769 | } |
769 | } |
770 | 770 | ||
771 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
771 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
772 | // Trim Gyro-Integrals to ACC-Signals |
772 | // Trim Gyro-Integrals to ACC-Signals |
773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
774 | 774 | ||
775 | #define BALANCE_NUMBER 256L |
775 | #define BALANCE_NUMBER 256L |
776 | // sum for averaging |
776 | // sum for averaging |
777 | MeanIntegralPitch += IntegralPitch; |
777 | MeanIntegralPitch += IntegralPitch; |
778 | MeanIntegralRoll += IntegralRoll; |
778 | MeanIntegralRoll += IntegralRoll; |
779 | 779 | ||
780 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
780 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
781 | { |
781 | { |
782 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
782 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
783 | MeasurementCounter = 0; |
783 | MeasurementCounter = 0; |
784 | 784 | ||
785 | IntegralAccPitch = 0; |
785 | IntegralAccPitch = 0; |
786 | IntegralAccRoll = 0; |
786 | IntegralAccRoll = 0; |
787 | IntegralAccZ = 0; |
787 | IntegralAccZ = 0; |
788 | 788 | ||
789 | MeanIntegralPitch = 0; |
789 | MeanIntegralPitch = 0; |
790 | MeanIntegralRoll = 0; |
790 | MeanIntegralRoll = 0; |
791 | 791 | ||
792 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
792 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
793 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
793 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
794 | 794 | ||
795 | AttitudeCorrectionPitch = 0; |
795 | AttitudeCorrectionPitch = 0; |
796 | AttitudeCorrectionRoll = 0; |
796 | AttitudeCorrectionRoll = 0; |
797 | } |
797 | } |
798 | 798 | ||
799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
800 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
800 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
801 | { |
801 | { |
802 | int32_t tmp_long, tmp_long2; |
802 | int32_t tmp_long, tmp_long2; |
803 | // determine the deviation of gyro integral from averaged acceleration sensor |
803 | // determine the deviation of gyro integral from averaged acceleration sensor |
804 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
804 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
805 | tmp_long /= 16; |
805 | tmp_long /= 16; |
806 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
806 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
807 | tmp_long2 /= 16; |
807 | tmp_long2 /= 16; |
808 | 808 | ||
809 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
809 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
810 | { |
810 | { |
811 | tmp_long /= 3; |
811 | tmp_long /= 3; |
812 | tmp_long2 /= 3; |
812 | tmp_long2 /= 3; |
813 | } |
813 | } |
814 | if(MaxStickYaw > 25) |
814 | if(MaxStickYaw > 25) |
815 | { |
815 | { |
816 | tmp_long /= 3; |
816 | tmp_long /= 3; |
817 | tmp_long2 /= 3; |
817 | tmp_long2 /= 3; |
818 | } |
818 | } |
819 | 819 | ||
820 | #define BALANCE 32 |
820 | #define BALANCE 32 |
821 | // limit correction |
821 | // limit correction |
822 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
822 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
823 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
823 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
824 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
824 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
825 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
825 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
826 | // correct current readings |
826 | // correct current readings |
827 | Reading_IntegralGyroPitch -= tmp_long; |
827 | Reading_IntegralGyroPitch -= tmp_long; |
828 | Reading_IntegralGyroRoll -= tmp_long2; |
828 | Reading_IntegralGyroRoll -= tmp_long2; |
829 | } |
829 | } |
830 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
830 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
831 | // MeasurementCounter is incremented in the isr of analog.c |
831 | // MeasurementCounter is incremented in the isr of analog.c |
832 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
832 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
833 | { |
833 | { |
834 | static int cnt = 0; |
834 | static int cnt = 0; |
835 | static char last_n_p, last_n_n, last_r_p, last_r_n; |
835 | static char last_n_p, last_n_n, last_r_p, last_r_n; |
836 | static long MeanIntegralPitch_old, MeanIntegralRoll_old; |
836 | static long MeanIntegralPitch_old, MeanIntegralRoll_old; |
837 | 837 | ||
838 | // if not lopping in any direction (this should be alwais the case, |
838 | // if not lopping in any direction (this should be alwais the case, |
839 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
839 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
840 | if(!Looping_Pitch && !Looping_Roll) |
840 | if(!Looping_Pitch && !Looping_Roll) |
841 | { |
841 | { |
842 | // Calculate mean value of the gyro integrals |
842 | // Calculate mean value of the gyro integrals |
843 | MeanIntegralPitch /= BALANCE_NUMBER; |
843 | MeanIntegralPitch /= BALANCE_NUMBER; |
844 | MeanIntegralRoll /= BALANCE_NUMBER; |
844 | MeanIntegralRoll /= BALANCE_NUMBER; |
845 | 845 | ||
846 | // Calculate mean of the acceleration values |
846 | // Calculate mean of the acceleration values |
847 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
847 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
848 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
848 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
849 | IntegralAccZ = IntegralAccZ / BALANCE_NUMBER; |
849 | IntegralAccZ = IntegralAccZ / BALANCE_NUMBER; |
850 | 850 | ||
851 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
852 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
852 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
853 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
853 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
854 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
854 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
855 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
855 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
856 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
856 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
857 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
858 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
858 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
859 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
859 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
860 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
860 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
861 | 861 | ||
862 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
862 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
863 | { |
863 | { |
864 | AttitudeCorrectionPitch /= 2; |
864 | AttitudeCorrectionPitch /= 2; |
865 | AttitudeCorrectionRoll /= 2; |
865 | AttitudeCorrectionRoll /= 2; |
866 | } |
866 | } |
867 | 867 | ||
868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
869 | // Gyro-Drift ermitteln |
869 | // Gyro-Drift ermitteln |
870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
871 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
871 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
872 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
872 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
873 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
873 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
874 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
874 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
875 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
875 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
876 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
876 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
877 | 877 | ||
878 | 878 | ||
879 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
879 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
880 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
880 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
881 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
881 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
882 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
882 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
883 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
883 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
884 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
884 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
885 | //DebugOut.Analog[28] = CorrectionPitch; |
885 | //DebugOut.Analog[28] = CorrectionPitch; |
886 | DebugOut.Analog[29] = CorrectionRoll; |
886 | DebugOut.Analog[29] = CorrectionRoll; |
887 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
887 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
888 | 888 | ||
889 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
889 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
890 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
890 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
891 | #define MOVEMENT_LIMIT 20000 |
891 | #define MOVEMENT_LIMIT 20000 |
892 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
892 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
893 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
893 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
894 | CorrectionPitch = 0; |
894 | CorrectionPitch = 0; |
895 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
895 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
896 | { |
896 | { |
897 | if(IntegralErrorPitch > ERROR_LIMIT2) |
897 | if(IntegralErrorPitch > ERROR_LIMIT2) |
898 | { |
898 | { |
899 | if(last_n_p) |
899 | if(last_n_p) |
900 | { |
900 | { |
901 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
901 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
902 | CorrectionPitch = IntegralErrorPitch / 8; |
902 | CorrectionPitch = IntegralErrorPitch / 8; |
903 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
903 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
904 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
904 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
905 | } |
905 | } |
906 | else last_n_p = 1; |
906 | else last_n_p = 1; |
907 | } |
907 | } |
908 | else last_n_p = 0; |
908 | else last_n_p = 0; |
909 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
909 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
910 | { |
910 | { |
911 | if(last_n_n) |
911 | if(last_n_n) |
912 | { |
912 | { |
913 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
913 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
914 | CorrectionPitch = IntegralErrorPitch / 8; |
914 | CorrectionPitch = IntegralErrorPitch / 8; |
915 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
915 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
916 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
916 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
917 | } |
917 | } |
918 | else last_n_n = 1; |
918 | else last_n_n = 1; |
919 | } |
919 | } |
920 | else last_n_n = 0; |
920 | else last_n_n = 0; |
921 | } |
921 | } |
922 | else cnt = 0; |
922 | else cnt = 0; |
923 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
923 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
924 | // correct Gyro Offsets |
924 | // correct Gyro Offsets |
925 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
925 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
926 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
926 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
927 | 927 | ||
928 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
928 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
929 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
929 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
930 | CorrectionRoll = 0; |
930 | CorrectionRoll = 0; |
931 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
931 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
932 | { |
932 | { |
933 | if(IntegralErrorRoll > ERROR_LIMIT2) |
933 | if(IntegralErrorRoll > ERROR_LIMIT2) |
934 | { |
934 | { |
935 | if(last_r_p) |
935 | if(last_r_p) |
936 | { |
936 | { |
937 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
937 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
938 | CorrectionRoll = IntegralErrorRoll / 8; |
938 | CorrectionRoll = IntegralErrorRoll / 8; |
939 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
939 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
940 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
940 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
941 | } |
941 | } |
942 | else last_r_p = 1; |
942 | else last_r_p = 1; |
943 | } |
943 | } |
944 | else last_r_p = 0; |
944 | else last_r_p = 0; |
945 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
945 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
946 | { |
946 | { |
947 | if(last_r_n) |
947 | if(last_r_n) |
948 | { |
948 | { |
949 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
949 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
950 | CorrectionRoll = IntegralErrorRoll / 8; |
950 | CorrectionRoll = IntegralErrorRoll / 8; |
951 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
951 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
952 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
952 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
953 | } |
953 | } |
954 | else last_r_n = 1; |
954 | else last_r_n = 1; |
955 | } |
955 | } |
956 | else last_r_n = 0; |
956 | else last_r_n = 0; |
957 | } |
957 | } |
958 | else cnt = 0; |
958 | else cnt = 0; |
959 | // correct Gyro Offsets |
959 | // correct Gyro Offsets |
960 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
960 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
961 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
961 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
962 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
962 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
963 | 963 | ||
964 | DebugOut.Analog[27] = CorrectionRoll; |
964 | DebugOut.Analog[27] = CorrectionRoll; |
965 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
965 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
966 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
966 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
967 | } |
967 | } |
968 | else // looping is active |
968 | else // looping is active |
969 | { |
969 | { |
970 | AttitudeCorrectionRoll = 0; |
970 | AttitudeCorrectionRoll = 0; |
971 | AttitudeCorrectionPitch = 0; |
971 | AttitudeCorrectionPitch = 0; |
972 | } |
972 | } |
973 | 973 | ||
974 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
974 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
975 | if(!Gyro_I_Factor) |
975 | if(!Gyro_I_Factor) |
976 | { |
976 | { |
977 | AttitudeCorrectionRoll = 0; |
977 | AttitudeCorrectionRoll = 0; |
978 | AttitudeCorrectionPitch = 0; |
978 | AttitudeCorrectionPitch = 0; |
979 | } |
979 | } |
980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
981 | MeanIntegralPitch_old = MeanIntegralPitch; |
981 | MeanIntegralPitch_old = MeanIntegralPitch; |
982 | MeanIntegralRoll_old = MeanIntegralRoll; |
982 | MeanIntegralRoll_old = MeanIntegralRoll; |
983 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
983 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
984 | // reset variables used for averaging |
984 | // reset variables used for averaging |
985 | IntegralAccPitch = 0; |
985 | IntegralAccPitch = 0; |
986 | IntegralAccRoll = 0; |
986 | IntegralAccRoll = 0; |
987 | IntegralAccZ = 0; |
987 | IntegralAccZ = 0; |
988 | MeanIntegralPitch = 0; |
988 | MeanIntegralPitch = 0; |
989 | MeanIntegralRoll = 0; |
989 | MeanIntegralRoll = 0; |
990 | MeasurementCounter = 0; |
990 | MeasurementCounter = 0; |
991 | } // end of averaging |
991 | } // end of averaging |
992 | 992 | ||
993 | 993 | ||
994 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
994 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
995 | // Yawing |
995 | // Yawing |
996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
997 | if(MaxStickYaw > 20) // yaw stick is activated |
997 | if(MaxStickYaw > 20) // yaw stick is activated |
998 | { // if not fixed compass course is set update compass course |
998 | { // if not fixed compass course is set update compass course |
999 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
999 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
1000 | } |
1000 | } |
1001 | // exponential stick sensitivity in yawring rate |
1001 | // exponential stick sensitivity in yawring rate |
1002 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1002 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1003 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1003 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1004 | SetPointYaw = tmp_int; |
1004 | SetPointYaw = tmp_int; |
1005 | Reading_IntegralGyroYaw -= tmp_int; |
1005 | Reading_IntegralGyroYaw -= tmp_int; |
1006 | // limit the effect |
1006 | // limit the effect |
1007 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1007 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1008 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1008 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1009 | 1009 | ||
1010 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1010 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1011 | // Compass |
1011 | // Compass |
1012 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1012 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1013 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1013 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1014 | { |
1014 | { |
1015 | int16_t w,v; |
1015 | int16_t w,v; |
1016 | static uint8_t updCompass = 0; |
1016 | static uint8_t updCompass = 0; |
1017 | 1017 | ||
1018 | if (!updCompass--) |
1018 | if (!updCompass--) |
1019 | { |
1019 | { |
1020 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1020 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1021 | // get current compass heading (angule between MK head and magnetic north) |
1021 | // get current compass heading (angule between MK head and magnetic north) |
1022 | CompassHeading = MM3_Heading(); |
1022 | CompassHeading = MM3_Heading(); |
1023 | // calculate OffCourse (angular deviation from heading to course) |
1023 | // calculate OffCourse (angular deviation from heading to course) |
1024 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1024 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1025 | 1025 | ||
1026 | } |
1026 | } |
1027 | 1027 | ||
1028 | // reduce compass effect with increasing declination |
1028 | // reduce compass effect with increasing declination |
1029 | w = abs(IntegralPitch / 512); |
1029 | w = abs(IntegralPitch / 512); |
1030 | v = abs(IntegralRoll / 512); |
1030 | v = abs(IntegralRoll / 512); |
1031 | if(v > w) w = v; // get maximum declination |
1031 | if(v > w) w = v; // get maximum declination |
1032 | // if declination is small enough update compass course if neccessary |
1032 | // if declination is small enough update compass course if neccessary |
1033 | if(w < 35 && StoreNewCompassCourse) |
1033 | if(w < 35 && StoreNewCompassCourse) |
1034 | { |
1034 | { |
1035 | CompassCourse = CompassHeading; |
1035 | CompassCourse = CompassHeading; |
1036 | StoreNewCompassCourse = 0; |
1036 | StoreNewCompassCourse = 0; |
1037 | } |
1037 | } |
1038 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1038 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1039 | w = FCParam.CompassYawEffect - w; // reduce commpass effect with increasing declination |
1039 | w = FCParam.CompassYawEffect - w; // reduce commpass effect with increasing declination |
1040 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1040 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1041 | { |
1041 | { |
1042 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1042 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1043 | } |
1043 | } |
1044 | } |
1044 | } |
1045 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1046 | // GPS |
1046 | // GPS |
1047 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1047 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1048 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1048 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1049 | { |
1049 | { |
1050 | GPS_P_Factor = FCParam.UserParam5; |
1050 | GPS_P_Factor = FCParam.UserParam5; |
1051 | GPS_D_Factor = FCParam.UserParam6; |
1051 | GPS_D_Factor = FCParam.UserParam6; |
1052 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
1052 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
1053 | } |
1053 | } |
1054 | else |
1054 | else |
1055 | { |
1055 | { |
1056 | GPS_Pitch = 0; |
1056 | GPS_Pitch = 0; |
1057 | GPS_Roll = 0; |
1057 | GPS_Roll = 0; |
1058 | } |
1058 | } |
1059 | 1059 | ||
1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1061 | // Debugwerte zuordnen |
1061 | // Debugwerte zuordnen |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1063 | if(!TimerDebugOut--) |
1063 | if(!TimerDebugOut--) |
1064 | { |
1064 | { |
1065 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1065 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1066 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1066 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1067 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1067 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1068 | DebugOut.Analog[2] = Mean_AccPitch; |
1068 | DebugOut.Analog[2] = Mean_AccPitch; |
1069 | DebugOut.Analog[3] = Mean_AccRoll; |
1069 | DebugOut.Analog[3] = Mean_AccRoll; |
1070 | DebugOut.Analog[4] = Reading_GyroYaw; |
1070 | DebugOut.Analog[4] = Reading_GyroYaw; |
1071 | DebugOut.Analog[5] = ReadingHight; |
1071 | DebugOut.Analog[5] = ReadingHight; |
1072 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1072 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1073 | DebugOut.Analog[8] = CompassHeading; |
1073 | DebugOut.Analog[8] = CompassHeading; |
1074 | DebugOut.Analog[9] = UBat; |
1074 | DebugOut.Analog[9] = UBat; |
1075 | DebugOut.Analog[10] = SenderOkay; |
1075 | DebugOut.Analog[10] = SenderOkay; |
1076 | DebugOut.Analog[16] = Mean_AccTop; |
1076 | DebugOut.Analog[16] = Mean_AccTop; |
1077 | 1077 | ||
1078 | /* DebugOut.Analog[16] = motor_rx[0]; |
1078 | /* DebugOut.Analog[16] = motor_rx[0]; |
1079 | DebugOut.Analog[17] = motor_rx[1]; |
1079 | DebugOut.Analog[17] = motor_rx[1]; |
1080 | DebugOut.Analog[18] = motor_rx[2]; |
1080 | DebugOut.Analog[18] = motor_rx[2]; |
1081 | DebugOut.Analog[19] = motor_rx[3]; |
1081 | DebugOut.Analog[19] = motor_rx[3]; |
1082 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1082 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1083 | DebugOut.Analog[20] /= 14; |
1083 | DebugOut.Analog[20] /= 14; |
1084 | DebugOut.Analog[21] = motor_rx[4]; |
1084 | DebugOut.Analog[21] = motor_rx[4]; |
1085 | DebugOut.Analog[22] = motor_rx[5]; |
1085 | DebugOut.Analog[22] = motor_rx[5]; |
1086 | DebugOut.Analog[23] = motor_rx[6]; |
1086 | DebugOut.Analog[23] = motor_rx[6]; |
1087 | DebugOut.Analog[24] = motor_rx[7]; |
1087 | DebugOut.Analog[24] = motor_rx[7]; |
1088 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1088 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1089 | 1089 | ||
1090 | DebugOut.Analog[9] = Reading_GyroPitch; |
1090 | DebugOut.Analog[9] = Reading_GyroPitch; |
1091 | DebugOut.Analog[9] = SetPointHight; |
1091 | DebugOut.Analog[9] = SetPointHight; |
1092 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1092 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1093 | DebugOut.Analog[11] = CompassCourse; |
1093 | DebugOut.Analog[11] = CompassCourse; |
1094 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1094 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1095 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1095 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1096 | DebugOut.Analog[9] = CompassOffCourse; |
1096 | DebugOut.Analog[9] = CompassOffCourse; |
1097 | DebugOut.Analog[10] = ThrustMixFraction; |
1097 | DebugOut.Analog[10] = ThrustMixFraction; |
1098 | DebugOut.Analog[3] = HightD * 32; |
1098 | DebugOut.Analog[3] = HightD * 32; |
1099 | DebugOut.Analog[4] = HightControlThrust; |
1099 | DebugOut.Analog[4] = HightControlThrust; |
1100 | */ |
1100 | */ |
1101 | } |
1101 | } |
1102 | 1102 | ||
1103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1104 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1104 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1105 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1105 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1106 | 1106 | ||
1107 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1107 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1108 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1108 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1109 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1109 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1110 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1110 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1111 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1111 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1112 | 1112 | ||
1113 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1113 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1114 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1114 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1115 | DebugOut.Analog[28] = Reading_GyroRoll; |
1115 | DebugOut.Analog[28] = Reading_GyroRoll; |
1116 | 1116 | ||
1117 | // limit control feedback |
1117 | // limit control feedback |
1118 | #define MAX_SENSOR 2048 |
1118 | #define MAX_SENSOR 2048 |
1119 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1119 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1120 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1120 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1121 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1121 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1122 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1122 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1123 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1123 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1124 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1124 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1125 | 1125 | ||
1126 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1126 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1127 | // Hight Control |
1127 | // Hight Control |
1128 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1128 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1130 | // If hight control is activated and no emergency landing is activre |
1130 | // If hight control is activated and no emergency landing is activre |
1131 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1131 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1132 | { |
1132 | { |
1133 | int tmp_int; |
1133 | int tmp_int; |
1134 | // if hight control is activated by an rc channel |
1134 | // if hight control is activated by an rc channel |
1135 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1135 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1136 | { // check if parameter is less than activation threshold |
1136 | { // check if parameter is less than activation threshold |
1137 | if(FCParam.MaxHight < 50) |
1137 | if(FCParam.MaxHight < 50) |
1138 | { |
1138 | { |
1139 | SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
1139 | SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
1140 | HightControlActive = 0; // disable hight control |
1140 | HightControlActive = 0; // disable hight control |
1141 | } |
1141 | } |
1142 | else HightControlActive = 1; // enable hight control |
1142 | else HightControlActive = 1; // enable hight control |
1143 | } |
1143 | } |
1144 | else // no switchable hight control |
1144 | else // no switchable hight control |
1145 | { |
1145 | { |
1146 | SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
1146 | SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
1147 | HightControlActive = 1; |
1147 | HightControlActive = 1; |
1148 | } |
1148 | } |
1149 | // get current hight |
1149 | // get current hight |
1150 | h = ReadingHight; |
1150 | h = ReadingHight; |
1151 | // if current hight is above the setpoint reduce thrust |
1151 | // if current hight is above the setpoint reduce thrust |
1152 | if((h > SetPointHight) && HightControlActive) |
1152 | if((h > SetPointHight) && HightControlActive) |
1153 | { |
1153 | { |
1154 | // hight difference -> P control part |
1154 | // hight difference -> P control part |
1155 | h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
1155 | h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
1156 | h = ThrustMixFraction - h; // reduce gas |
1156 | h = ThrustMixFraction - h; // reduce gas |
1157 | // higth gradient --> D control part |
1157 | // higth gradient --> D control part |
1158 | h -= (HightD * FCParam.Hight_D) / 8; // D control part |
1158 | h -= (HightD * FCParam.Hight_D) / 8; // D control part |
1159 | // acceleration sensor effect |
1159 | // acceleration sensor effect |
1160 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
1160 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
1161 | if(tmp_int > 50) tmp_int = 50; |
1161 | if(tmp_int > 50) tmp_int = 50; |
1162 | if(tmp_int < -50) tmp_int = -50; |
1162 | if(tmp_int < -50) tmp_int = -50; |
1163 | h -= tmp_int; |
1163 | h -= tmp_int; |
1164 | // update hight control thrust |
1164 | // update hight control thrust |
1165 | HightControlThrust = (HightControlThrust*15 + h) / 16; |
1165 | HightControlThrust = (HightControlThrust*15 + h) / 16; |
1166 | // limit thrust reduction |
1166 | // limit thrust reduction |
1167 | if(HightControlThrust < ParamSet.Hight_MinThrust) |
1167 | if(HightControlThrust < ParamSet.Hight_MinThrust) |
1168 | { |
1168 | { |
1169 | if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
1169 | if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
1170 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1170 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1171 | if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
1171 | if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
1172 | } |
1172 | } |
1173 | // limit thrust to stick setting |
1173 | // limit thrust to stick setting |
1174 | if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
1174 | if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
1175 | ThrustMixFraction = HightControlThrust; |
1175 | ThrustMixFraction = HightControlThrust; |
1176 | } |
1176 | } |
1177 | } |
1177 | } |
1178 | // limit thrust to parameter setting |
1178 | // limit thrust to parameter setting |
1179 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1179 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1181 | // + Mixer and PI-Controller |
1181 | // + Mixer and PI-Controller |
1182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1183 | DebugOut.Analog[7] = ThrustMixFraction; |
1183 | DebugOut.Analog[7] = ThrustMixFraction; |
1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1185 | // Yaw-Fraction |
1185 | // Yaw-Fraction |
1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1187 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1187 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1188 | 1188 | ||
1189 | // limit YawMixFraction |
1189 | // limit YawMixFraction |
1190 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1190 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1191 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1191 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1192 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1192 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1193 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1193 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1194 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1194 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1196 | // Pitch-Axis |
1196 | // Pitch-Axis |
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1198 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1198 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1199 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1199 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1200 | else SumPitch += DiffPitch; // I-part for head holding |
1200 | else SumPitch += DiffPitch; // I-part for head holding |
1201 | if(SumPitch > 16000) SumPitch = 16000; |
1201 | if(SumPitch > 16000) SumPitch = 16000; |
1202 | if(SumPitch < -16000) SumPitch = -16000; |
1202 | if(SumPitch < -16000) SumPitch = -16000; |
1203 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1203 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1204 | 1204 | ||
1205 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1205 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1206 | if(pd_result > tmp_int) pd_result = tmp_int; |
1206 | if(pd_result > tmp_int) pd_result = tmp_int; |
1207 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1207 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1208 | 1208 | ||
1209 | // Motor Front |
1209 | // Motor Front |
1210 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1210 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1211 | if ((MotorValue < 0)) MotorValue = 0; |
1211 | if ((MotorValue < 0)) MotorValue = 0; |
1212 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1212 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1213 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1213 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1214 | Motor_Front = MotorValue; |
1214 | Motor_Front = MotorValue; |
1215 | 1215 | ||
1216 | // Motor Rear |
1216 | // Motor Rear |
1217 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1217 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1218 | if ((MotorValue < 0)) MotorValue = 0; |
1218 | if ((MotorValue < 0)) MotorValue = 0; |
1219 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1219 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1220 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1220 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1221 | Motor_Rear = MotorValue; |
1221 | Motor_Rear = MotorValue; |
1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1223 | // Roll-Axis |
1223 | // Roll-Axis |
1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1225 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1225 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1226 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1226 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1227 | else SumRoll += DiffRoll; // I-part for head holding |
1227 | else SumRoll += DiffRoll; // I-part for head holding |
1228 | if(SumRoll > 16000) SumRoll = 16000; |
1228 | if(SumRoll > 16000) SumRoll = 16000; |
1229 | if(SumRoll < -16000) SumRoll = -16000; |
1229 | if(SumRoll < -16000) SumRoll = -16000; |
1230 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1230 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1231 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1231 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1232 | if(pd_result > tmp_int) pd_result = tmp_int; |
1232 | if(pd_result > tmp_int) pd_result = tmp_int; |
1233 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1233 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1234 | 1234 | ||
1235 | // Motor Left |
1235 | // Motor Left |
1236 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1236 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1237 | if ((MotorValue < 0)) MotorValue = 0; |
1237 | if ((MotorValue < 0)) MotorValue = 0; |
1238 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1238 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1239 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1239 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1240 | Motor_Left = MotorValue; |
1240 | Motor_Left = MotorValue; |
1241 | 1241 | ||
1242 | // Motor Right |
1242 | // Motor Right |
1243 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1243 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1244 | if ((MotorValue < 0)) MotorValue = 0; |
1244 | if ((MotorValue < 0)) MotorValue = 0; |
1245 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1245 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1246 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1246 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1247 | Motor_Right = MotorValue; |
1247 | Motor_Right = MotorValue; |
1248 | } |
1248 | } |
1249 | 1249 | ||
1250 | 1250 |