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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 "uart.h" |
63 | #include "uart.h" |
64 | #include "rc.h" |
64 | #include "rc.h" |
65 | #include "twimaster.h" |
65 | #include "twimaster.h" |
66 | #include "timer2.h" |
66 | #include "timer2.h" |
67 | #ifdef USE_KILLAGREG |
67 | #ifdef USE_KILLAGREG |
68 | #include "mm3.h" |
68 | #include "mm3.h" |
69 | #include "gps.h" |
69 | #include "gps.h" |
70 | #endif |
70 | #endif |
71 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
71 | #ifdef USE_MK3MAG |
72 | #include "mk3mag.h" |
72 | #include "mk3mag.h" |
- | 73 | #include "gps.h" |
|
73 | #endif |
74 | #endif |
74 | #include "led.h" |
75 | #include "led.h" |
75 | 76 | ||
76 | volatile uint16_t I2CTimeout = 100; |
77 | volatile uint16_t I2CTimeout = 100; |
77 | // gyro readings |
78 | // gyro readings |
78 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
79 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
79 | // gyro neutral readings |
80 | // gyro neutral readings |
80 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
81 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
81 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
82 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
82 | // mean accelerations |
83 | // mean accelerations |
83 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
84 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
84 | 85 | ||
85 | // neutral acceleration readings |
86 | // neutral acceleration readings |
86 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
87 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
87 | volatile float NeutralAccZ = 0; |
88 | volatile float NeutralAccZ = 0; |
88 | 89 | ||
89 | // attitude gyro integrals |
90 | // attitude gyro integrals |
90 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
91 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
91 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
92 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
92 | volatile int32_t IntegralYaw = 0; |
93 | volatile int32_t IntegralYaw = 0; |
93 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
94 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
94 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
95 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
95 | volatile int32_t Reading_IntegralGyroYaw = 0; |
96 | volatile int32_t Reading_IntegralGyroYaw = 0; |
96 | volatile int32_t MeanIntegralPitch; |
97 | volatile int32_t MeanIntegralPitch; |
97 | volatile int32_t MeanIntegralRoll; |
98 | volatile int32_t MeanIntegralRoll; |
98 | 99 | ||
99 | // attitude acceleration integrals |
100 | // attitude acceleration integrals |
100 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
101 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
101 | volatile int32_t Reading_Integral_Top = 0; |
102 | volatile int32_t Reading_Integral_Top = 0; |
102 | 103 | ||
103 | // compass course |
104 | // compass course |
104 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
105 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
105 | volatile int16_t CompassCourse = -1; |
106 | volatile int16_t CompassCourse = -1; |
106 | volatile int16_t CompassOffCourse = 0; |
107 | volatile int16_t CompassOffCourse = 0; |
107 | volatile uint8_t CompassCalState = 0; |
108 | volatile uint8_t CompassCalState = 0; |
108 | uint8_t FunnelCourse = 0; |
109 | uint8_t FunnelCourse = 0; |
109 | uint16_t BadCompassHeading = 500; |
110 | uint16_t BadCompassHeading = 500; |
110 | int32_t YawGyroHeading; |
111 | int32_t YawGyroHeading; |
111 | int16_t YawGyroDrift; |
112 | int16_t YawGyroDrift; |
112 | 113 | ||
113 | 114 | ||
114 | int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
115 | int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
115 | 116 | ||
116 | 117 | ||
117 | // flags |
118 | // flags |
118 | uint8_t MotorsOn = 0; |
119 | uint8_t MotorsOn = 0; |
119 | uint8_t EmergencyLanding = 0; |
120 | uint8_t EmergencyLanding = 0; |
120 | uint16_t Model_Is_Flying = 0; |
121 | uint16_t Model_Is_Flying = 0; |
121 | 122 | ||
122 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
123 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
123 | 124 | ||
124 | float Gyro_P_Factor; |
125 | float Gyro_P_Factor; |
125 | float Gyro_I_Factor; |
126 | float Gyro_I_Factor; |
126 | 127 | ||
127 | volatile int16_t DiffPitch, DiffRoll; |
128 | volatile int16_t DiffPitch, DiffRoll; |
128 | 129 | ||
129 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
130 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
130 | 131 | ||
131 | // setpoints for motors |
132 | // setpoints for motors |
132 | #ifdef HEXAKOPTER |
133 | #ifdef HEXAKOPTER |
133 | volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; |
134 | volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; |
134 | #else |
135 | #else |
135 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
136 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
136 | #endif |
137 | #endif |
137 | 138 | ||
138 | // stick values derived by rc channels readings |
139 | // stick values derived by rc channels readings |
139 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
140 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
140 | int16_t GPS_Pitch = 0, GPS_Roll = 0; |
141 | int16_t GPS_Pitch = 0, GPS_Roll = 0; |
141 | 142 | ||
142 | int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
143 | int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
143 | // stick values derived by uart inputs |
144 | // stick values derived by uart inputs |
144 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
145 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
145 | 146 | ||
146 | 147 | ||
147 | 148 | ||
148 | 149 | ||
149 | int16_t ReadingHeight = 0; |
150 | int16_t ReadingHeight = 0; |
150 | int16_t SetPointHeight = 0; |
151 | int16_t SetPointHeight = 0; |
151 | 152 | ||
152 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
153 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
153 | 154 | ||
154 | float Ki = FACTOR_I; |
155 | float Ki = FACTOR_I; |
155 | 156 | ||
156 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
157 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
157 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
158 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
158 | 159 | ||
159 | 160 | ||
160 | 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}; |
161 | 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}; |
161 | 162 | ||
162 | 163 | ||
163 | /************************************************************************/ |
164 | /************************************************************************/ |
164 | /* Creates numbeeps beeps at the speaker */ |
165 | /* Creates numbeeps beeps at the speaker */ |
165 | /************************************************************************/ |
166 | /************************************************************************/ |
166 | void Beep(uint8_t numbeeps) |
167 | void Beep(uint8_t numbeeps) |
167 | { |
168 | { |
168 | while(numbeeps--) |
169 | while(numbeeps--) |
169 | { |
170 | { |
170 | if(MotorsOn) return; //auf keinen Fall im Flug! |
171 | if(MotorsOn) return; //auf keinen Fall im Flug! |
171 | BeepTime = 100; // 0.1 second |
172 | BeepTime = 100; // 0.1 second |
172 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
173 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
173 | // this will block the flight control loop, |
174 | // this will block the flight control loop, |
174 | // therefore do not use this funktion if motors are running |
175 | // therefore do not use this funktion if motors are running |
175 | } |
176 | } |
176 | } |
177 | } |
177 | 178 | ||
178 | /************************************************************************/ |
179 | /************************************************************************/ |
179 | /* Neutral Readings */ |
180 | /* Neutral Readings */ |
180 | /************************************************************************/ |
181 | /************************************************************************/ |
181 | void SetNeutral(void) |
182 | void SetNeutral(void) |
182 | { |
183 | { |
183 | NeutralAccX = 0; |
184 | NeutralAccX = 0; |
184 | NeutralAccY = 0; |
185 | NeutralAccY = 0; |
185 | NeutralAccZ = 0; |
186 | NeutralAccZ = 0; |
186 | AdNeutralPitch = 0; |
187 | AdNeutralPitch = 0; |
187 | AdNeutralRoll = 0; |
188 | AdNeutralRoll = 0; |
188 | AdNeutralYaw = 0; |
189 | AdNeutralYaw = 0; |
189 | FCParam.Yaw_PosFeedback = 0; |
190 | FCParam.Yaw_PosFeedback = 0; |
190 | FCParam.Yaw_NegFeedback = 0; |
191 | FCParam.Yaw_NegFeedback = 0; |
191 | CalibMean(); |
192 | CalibMean(); |
192 | Delay_ms_Mess(100); |
193 | Delay_ms_Mess(100); |
193 | CalibMean(); |
194 | CalibMean(); |
194 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
195 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
195 | { |
196 | { |
196 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
197 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
197 | } |
198 | } |
198 | AdNeutralPitch = AdValueGyrPitch; |
199 | AdNeutralPitch = AdValueGyrPitch; |
199 | AdNeutralRoll = AdValueGyrRoll; |
200 | AdNeutralRoll = AdValueGyrRoll; |
200 | AdNeutralYaw = AdValueGyrYaw; |
201 | AdNeutralYaw = AdValueGyrYaw; |
201 | StartNeutralRoll = AdNeutralRoll; |
202 | StartNeutralRoll = AdNeutralRoll; |
202 | StartNeutralPitch = AdNeutralPitch; |
203 | StartNeutralPitch = AdNeutralPitch; |
203 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
204 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
204 | { |
205 | { |
205 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
206 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
206 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
207 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
207 | NeutralAccZ = Current_AccZ; |
208 | NeutralAccZ = Current_AccZ; |
208 | } |
209 | } |
209 | else |
210 | else |
210 | { |
211 | { |
211 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
212 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
212 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
213 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
213 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
214 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
214 | } |
215 | } |
215 | Reading_IntegralGyroPitch = 0; |
216 | Reading_IntegralGyroPitch = 0; |
216 | Reading_IntegralGyroPitch2 = 0; |
217 | Reading_IntegralGyroPitch2 = 0; |
217 | Reading_IntegralGyroRoll = 0; |
218 | Reading_IntegralGyroRoll = 0; |
218 | Reading_IntegralGyroRoll2 = 0; |
219 | Reading_IntegralGyroRoll2 = 0; |
219 | Reading_IntegralGyroYaw = 0; |
220 | Reading_IntegralGyroYaw = 0; |
220 | Reading_GyroPitch = 0; |
221 | Reading_GyroPitch = 0; |
221 | Reading_GyroRoll = 0; |
222 | Reading_GyroRoll = 0; |
222 | Reading_GyroYaw = 0; |
223 | Reading_GyroYaw = 0; |
223 | StartAirPressure = AirPressure; |
224 | StartAirPressure = AirPressure; |
224 | HeightD = 0; |
225 | HeightD = 0; |
225 | Reading_Integral_Top = 0; |
226 | Reading_Integral_Top = 0; |
226 | CompassCourse = CompassHeading; |
227 | CompassCourse = CompassHeading; |
227 | BeepTime = 50; |
228 | BeepTime = 50; |
228 | TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
229 | TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
229 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
230 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
230 | ExternHeightValue = 0; |
231 | ExternHeightValue = 0; |
231 | GPS_Pitch = 0; |
232 | GPS_Pitch = 0; |
232 | GPS_Roll = 0; |
233 | GPS_Roll = 0; |
233 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
234 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
234 | YawGyroDrift = 0; |
235 | YawGyroDrift = 0; |
235 | } |
236 | } |
236 | 237 | ||
237 | /************************************************************************/ |
238 | /************************************************************************/ |
238 | /* Averaging Measurement Readings */ |
239 | /* Averaging Measurement Readings */ |
239 | /************************************************************************/ |
240 | /************************************************************************/ |
240 | void Mean(void) |
241 | void Mean(void) |
241 | { |
242 | { |
242 | static int32_t tmpl,tmpl2; |
243 | static int32_t tmpl,tmpl2; |
243 | 244 | ||
244 | // Get offset corrected gyro readings (~ to angular velocity) |
245 | // Get offset corrected gyro readings (~ to angular velocity) |
245 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
246 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
246 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
247 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
247 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
248 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
248 | 249 | ||
249 | // Acceleration Sensor |
250 | // Acceleration Sensor |
250 | // sliding average sensor readings |
251 | // sliding average sensor readings |
251 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
252 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
252 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
253 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
253 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
254 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
254 | 255 | ||
255 | // sum sensor readings for later averaging |
256 | // sum sensor readings for later averaging |
256 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
257 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
257 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
258 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
258 | 259 | ||
259 | NaviAccPitch += AdValueAccPitch; |
260 | NaviAccPitch += AdValueAccPitch; |
260 | NaviAccRoll += AdValueAccRoll; |
261 | NaviAccRoll += AdValueAccRoll; |
261 | NaviCntAcc++; |
262 | NaviCntAcc++; |
262 | 263 | ||
263 | // Yaw |
264 | // Yaw |
264 | // calculate yaw gyro integral (~ to rotation angle) |
265 | // calculate yaw gyro integral (~ to rotation angle) |
265 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
266 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
266 | YawGyroHeading += Reading_GyroYaw; |
267 | YawGyroHeading += Reading_GyroYaw; |
267 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
268 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
268 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
269 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
269 | 270 | ||
270 | 271 | ||
271 | // Coupling fraction |
272 | // Coupling fraction |
272 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
273 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
273 | { |
274 | { |
274 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
275 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
275 | tmpl *= FCParam.Yaw_PosFeedback; |
276 | tmpl *= FCParam.Yaw_PosFeedback; |
276 | tmpl /= 4096L; |
277 | tmpl /= 4096L; |
277 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
278 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
278 | tmpl2 *= FCParam.Yaw_PosFeedback; |
279 | tmpl2 *= FCParam.Yaw_PosFeedback; |
279 | tmpl2 /= 4096L; |
280 | tmpl2 /= 4096L; |
280 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
281 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
281 | } |
282 | } |
282 | else tmpl = tmpl2 = 0; |
283 | else tmpl = tmpl2 = 0; |
283 | 284 | ||
284 | // Roll |
285 | // Roll |
285 | Reading_GyroRoll += tmpl; |
286 | Reading_GyroRoll += tmpl; |
286 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
287 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
287 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
288 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
288 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
289 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
289 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
290 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
290 | { |
291 | { |
291 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
292 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
292 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
293 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
293 | } |
294 | } |
294 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
295 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
295 | { |
296 | { |
296 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
297 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
297 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
298 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
298 | } |
299 | } |
299 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
300 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
300 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
301 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
301 | if(BoardRelease == 10) |
302 | if(BoardRelease == 10) |
302 | { |
303 | { |
303 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
304 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
304 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
305 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
305 | } |
306 | } |
306 | else |
307 | else |
307 | { |
308 | { |
308 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
309 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
309 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
310 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
310 | } |
311 | } |
311 | // Pitch |
312 | // Pitch |
312 | Reading_GyroPitch -= tmpl2; |
313 | Reading_GyroPitch -= tmpl2; |
313 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
314 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
314 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
315 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
315 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
316 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
316 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
317 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
317 | { |
318 | { |
318 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
319 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
319 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
320 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
320 | } |
321 | } |
321 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
322 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
322 | { |
323 | { |
323 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
324 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
324 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
325 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
325 | } |
326 | } |
326 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
327 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
327 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
328 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
328 | if(BoardRelease == 10) |
329 | if(BoardRelease == 10) |
329 | { |
330 | { |
330 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
331 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
331 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
332 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
332 | } |
333 | } |
333 | else |
334 | else |
334 | { |
335 | { |
335 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
336 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
336 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
337 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
337 | } |
338 | } |
338 | 339 | ||
339 | // start ADC again to capture measurement values for the next loop |
340 | // start ADC again to capture measurement values for the next loop |
340 | ADC_Enable(); |
341 | ADC_Enable(); |
341 | 342 | ||
342 | IntegralYaw = Reading_IntegralGyroYaw; |
343 | IntegralYaw = Reading_IntegralGyroYaw; |
343 | IntegralPitch = Reading_IntegralGyroPitch; |
344 | IntegralPitch = Reading_IntegralGyroPitch; |
344 | IntegralRoll = Reading_IntegralGyroRoll; |
345 | IntegralRoll = Reading_IntegralGyroRoll; |
345 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
346 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
346 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
347 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
347 | 348 | ||
348 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
349 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
349 | { |
350 | { |
350 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
351 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
351 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
352 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
352 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
353 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
353 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
354 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
354 | } |
355 | } |
355 | } |
356 | } |
356 | 357 | ||
357 | /************************************************************************/ |
358 | /************************************************************************/ |
358 | /* Averaging Measurement Readings for Calibration */ |
359 | /* Averaging Measurement Readings for Calibration */ |
359 | /************************************************************************/ |
360 | /************************************************************************/ |
360 | void CalibMean(void) |
361 | void CalibMean(void) |
361 | { |
362 | { |
362 | // stop ADC to avoid changing values during calculation |
363 | // stop ADC to avoid changing values during calculation |
363 | ADC_Disable(); |
364 | ADC_Disable(); |
364 | 365 | ||
365 | Reading_GyroPitch = AdValueGyrPitch; |
366 | Reading_GyroPitch = AdValueGyrPitch; |
366 | Reading_GyroRoll = AdValueGyrRoll; |
367 | Reading_GyroRoll = AdValueGyrRoll; |
367 | Reading_GyroYaw = AdValueGyrYaw; |
368 | Reading_GyroYaw = AdValueGyrYaw; |
368 | 369 | ||
369 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
370 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
370 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
371 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
371 | Mean_AccTop = (int32_t)AdValueAccTop; |
372 | Mean_AccTop = (int32_t)AdValueAccTop; |
372 | // start ADC (enables internal trigger so that the ISR in analog.c |
373 | // start ADC (enables internal trigger so that the ISR in analog.c |
373 | // updates the readings once) |
374 | // updates the readings once) |
374 | ADC_Enable(); |
375 | ADC_Enable(); |
375 | 376 | ||
376 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
377 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
377 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
378 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
378 | } |
379 | } |
379 | 380 | ||
380 | /************************************************************************/ |
381 | /************************************************************************/ |
381 | /* Transmit Motor Data via I2C */ |
382 | /* Transmit Motor Data via I2C */ |
382 | /************************************************************************/ |
383 | /************************************************************************/ |
383 | void SendMotorData(void) |
384 | void SendMotorData(void) |
384 | { |
385 | { |
385 | if(MOTOR_OFF || !MotorsOn) |
386 | if(MOTOR_OFF || !MotorsOn) |
386 | { |
387 | { |
387 | #ifdef HEXAKOPTER |
388 | #ifdef HEXAKOPTER |
388 | Motor_RearLeft = 0; |
389 | Motor_RearLeft = 0; |
389 | Motor_FrontLeft = 0; |
390 | Motor_FrontLeft = 0; |
390 | Motor_RearRight = 0; |
391 | Motor_RearRight = 0; |
391 | Motor_FrontRight = 0; |
392 | Motor_FrontRight = 0; |
392 | Motor_Right = 0; |
393 | Motor_Right = 0; |
393 | Motor_Left = 0; |
394 | Motor_Left = 0; |
394 | if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0]; |
395 | if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0]; |
395 | if(MotorTest[1]) Motor_RearLeft = Motor_RearRight = MotorTest[1]; |
396 | if(MotorTest[1]) Motor_RearLeft = Motor_RearRight = MotorTest[1]; |
396 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
397 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
397 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
398 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
398 | } |
399 | } |
399 | 400 | ||
400 | #else |
401 | #else |
401 | Motor_Rear = 0; |
402 | Motor_Rear = 0; |
402 | Motor_Front = 0; |
403 | Motor_Front = 0; |
403 | Motor_Right = 0; |
404 | Motor_Right = 0; |
404 | Motor_Left = 0; |
405 | Motor_Left = 0; |
405 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
406 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
406 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
407 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
407 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
408 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
408 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
409 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
409 | } |
410 | } |
410 | 411 | ||
411 | 412 | ||
412 | #endif |
413 | #endif |
413 | //Start I2C Interrupt Mode |
414 | //Start I2C Interrupt Mode |
414 | twi_state = 0; |
415 | twi_state = 0; |
415 | motor = 0; |
416 | motor = 0; |
416 | I2C_Start(); |
417 | I2C_Start(); |
417 | } |
418 | } |
418 | 419 | ||
419 | 420 | ||
420 | 421 | ||
421 | /************************************************************************/ |
422 | /************************************************************************/ |
422 | /* Maps the parameter to poti values */ |
423 | /* Maps the parameter to poti values */ |
423 | /************************************************************************/ |
424 | /************************************************************************/ |
424 | void ParameterMapping(void) |
425 | void ParameterMapping(void) |
425 | { |
426 | { |
426 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
427 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
427 | // else the last updated values are used |
428 | // else the last updated values are used |
428 | { |
429 | { |
429 | //update poti values by rc-signals |
430 | //update poti values by rc-signals |
430 | #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;} |
431 | #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;} |
431 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
432 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
432 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
433 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
433 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
434 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
434 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
435 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
435 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
436 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
436 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
437 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
437 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
438 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
438 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
439 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
439 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
440 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
440 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
441 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
441 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
442 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
442 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
443 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
443 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
444 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
444 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
445 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
445 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
446 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
446 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
447 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
447 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
448 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
448 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
449 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
449 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
450 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
450 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
451 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
451 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
452 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
452 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
453 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
453 | } |
454 | } |
454 | } |
455 | } |
455 | 456 | ||
456 | 457 | ||
457 | void SetCompassCalState(void) |
458 | void SetCompassCalState(void) |
458 | { |
459 | { |
459 | static uint8_t stick = 1; |
460 | static uint8_t stick = 1; |
460 | 461 | ||
461 | // if pitch is centered or top set stick to zero |
462 | // if pitch is centered or top set stick to zero |
462 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
463 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
463 | // if pitch is down trigger to next cal state |
464 | // if pitch is down trigger to next cal state |
464 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick) |
465 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick) |
465 | { |
466 | { |
466 | stick = 1; |
467 | stick = 1; |
467 | CompassCalState++; |
468 | CompassCalState++; |
468 | if(CompassCalState < 5) Beep(CompassCalState); |
469 | if(CompassCalState < 5) Beep(CompassCalState); |
469 | else BeepTime = 1000; |
470 | else BeepTime = 1000; |
470 | } |
471 | } |
471 | } |
472 | } |
472 | 473 | ||
473 | 474 | ||
474 | 475 | ||
475 | /************************************************************************/ |
476 | /************************************************************************/ |
476 | /* MotorControl */ |
477 | /* MotorControl */ |
477 | /************************************************************************/ |
478 | /************************************************************************/ |
478 | void MotorControl(void) |
479 | void MotorControl(void) |
479 | { |
480 | { |
480 | int16_t MotorValue, pd_result, h, tmp_int; |
481 | int16_t MotorValue, pd_result, h, tmp_int; |
481 | int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction; |
482 | int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction; |
482 | static int32_t SumPitch = 0, SumRoll = 0; |
483 | static int32_t SumPitch = 0, SumRoll = 0; |
483 | static int32_t SetPointYaw = 0; |
484 | static int32_t SetPointYaw = 0; |
484 | static int32_t IntegralErrorPitch = 0; |
485 | static int32_t IntegralErrorPitch = 0; |
485 | static int32_t IntegralErrorRoll = 0; |
486 | static int32_t IntegralErrorRoll = 0; |
486 | static uint16_t RcLostTimer; |
487 | static uint16_t RcLostTimer; |
487 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
488 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
488 | static uint8_t HeightControlActive = 0; |
489 | static uint8_t HeightControlActive = 0; |
489 | static int16_t HeightControlThrust = 0; |
490 | static int16_t HeightControlThrust = 0; |
490 | static int8_t TimerDebugOut = 0; |
491 | static int8_t TimerDebugOut = 0; |
491 | static uint16_t UpdateCompassCourse = 0; |
492 | static uint16_t UpdateCompassCourse = 0; |
492 | static int32_t CorrectionPitch, CorrectionRoll; |
493 | static int32_t CorrectionPitch, CorrectionRoll; |
493 | 494 | ||
494 | Mean(); |
495 | Mean(); |
495 | GRN_ON; |
496 | GRN_ON; |
496 | 497 | ||
497 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
498 | // determine thrust value |
499 | // determine thrust value |
499 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
500 | ThrustMixFraction = StickThrust; |
501 | ThrustMixFraction = StickThrust; |
501 | if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10; |
502 | if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10; |
502 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
503 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
503 | // RC-signal is bad |
504 | // RC-signal is bad |
504 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
505 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
505 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
506 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
506 | { |
507 | { |
507 | if(!PcAccess) // if also no PC-Access via UART |
508 | if(!PcAccess) // if also no PC-Access via UART |
508 | { |
509 | { |
509 | if(BeepModulation == 0xFFFF) |
510 | if(BeepModulation == 0xFFFF) |
510 | { |
511 | { |
511 | BeepTime = 15000; // 1.5 seconds |
512 | BeepTime = 15000; // 1.5 seconds |
512 | BeepModulation = 0x0C00; |
513 | BeepModulation = 0x0C00; |
513 | } |
514 | } |
514 | } |
515 | } |
515 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
516 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
516 | else // rc lost countdown finished |
517 | else // rc lost countdown finished |
517 | { |
518 | { |
518 | MotorsOn = 0; // stop all motors |
519 | MotorsOn = 0; // stop all motors |
519 | EmergencyLanding = 0; // emergency landing is over |
520 | EmergencyLanding = 0; // emergency landing is over |
520 | } |
521 | } |
521 | ROT_ON; // set red led |
522 | ROT_ON; // set red led |
522 | if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
523 | if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
523 | { |
524 | { |
524 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
525 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
525 | EmergencyLanding = 1; // enable emergency landing |
526 | EmergencyLanding = 1; // enable emergency landing |
526 | // set neutral rc inputs |
527 | // set neutral rc inputs |
527 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
528 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
528 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
529 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
529 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
530 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
530 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
531 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
531 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
532 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
532 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
533 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
533 | } |
534 | } |
534 | else MotorsOn = 0; // switch of all motors |
535 | else MotorsOn = 0; // switch of all motors |
535 | } // eof RC_Quality < 120 |
536 | } // eof RC_Quality < 120 |
536 | else |
537 | else |
537 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
538 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
538 | // RC-signal is good |
539 | // RC-signal is good |
539 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
540 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
540 | if(RC_Quality > 140) |
541 | if(RC_Quality > 140) |
541 | { |
542 | { |
542 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
543 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
543 | // reset emergency timer |
544 | // reset emergency timer |
544 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
545 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
545 | if(ThrustMixFraction > 40) |
546 | if(ThrustMixFraction > 40) |
546 | { |
547 | { |
547 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
548 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
548 | } |
549 | } |
549 | if(Model_Is_Flying < 256) |
550 | if(Model_Is_Flying < 256) |
550 | { |
551 | { |
551 | SumPitch = 0; |
552 | SumPitch = 0; |
552 | SumRoll = 0; |
553 | SumRoll = 0; |
553 | StickYaw = 0; |
554 | StickYaw = 0; |
554 | if(Model_Is_Flying == 250) UpdateCompassCourse = 1; |
555 | if(Model_Is_Flying == 250) UpdateCompassCourse = 1; |
555 | } |
556 | } |
556 | 557 | ||
557 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
558 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
558 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
559 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
559 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
560 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
560 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
561 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
561 | //PPM24-Extension |
562 | //PPM24-Extension |
562 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
563 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
563 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
564 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
564 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
565 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
565 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
566 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
566 | //limit poti values |
567 | //limit poti values |
567 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
568 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
568 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
569 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
569 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
570 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
570 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
571 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
571 | //PPM24-Extension |
572 | //PPM24-Extension |
572 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
573 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
573 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
574 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
574 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
575 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
575 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
576 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
576 | 577 | ||
577 | // if motors are off and the thrust stick is in the upper position |
578 | // if motors are off and the thrust stick is in the upper position |
578 | if(MotorsOn == 0 && (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80)) |
579 | if(MotorsOn == 0 && (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80)) |
579 | { |
580 | { |
580 | // and if the yaw stick is in the leftmost position |
581 | // and if the yaw stick is in the leftmost position |
581 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
582 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
582 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
583 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
583 | // calibrate the neutral readings of all attitude sensors |
584 | // calibrate the neutral readings of all attitude sensors |
584 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
585 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
585 | { |
586 | { |
586 | // thrust/yaw joystick is top left |
587 | // thrust/yaw joystick is top left |
587 | // _________ |
588 | // _________ |
588 | // |x | |
589 | // |x | |
589 | // | | |
590 | // | | |
590 | // | | |
591 | // | | |
591 | // | | |
592 | // | | |
592 | // | | |
593 | // | | |
593 | // ¯¯¯¯¯¯¯¯¯ |
594 | // ¯¯¯¯¯¯¯¯¯ |
594 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
595 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
595 | { |
596 | { |
596 | delay_neutral = 0; |
597 | delay_neutral = 0; |
597 | GRN_OFF; |
598 | GRN_OFF; |
598 | Model_Is_Flying = 0; |
599 | Model_Is_Flying = 0; |
599 | // check roll/pitch stick position |
600 | // check roll/pitch stick position |
600 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
601 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
601 | // according to roll/pitch stick position |
602 | // according to roll/pitch stick position |
602 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
603 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
603 | { |
604 | { |
604 | uint8_t setting = 1; // default |
605 | uint8_t setting = 1; // default |
605 | // pitch/roll joystick |
606 | // pitch/roll joystick |
606 | // _________ |
607 | // _________ |
607 | // |2 3 4| |
608 | // |2 3 4| |
608 | // | | |
609 | // | | |
609 | // |1 5| |
610 | // |1 5| |
610 | // | | |
611 | // | | |
611 | // | | |
612 | // | | |
612 | // ¯¯¯¯¯¯¯¯¯ |
613 | // ¯¯¯¯¯¯¯¯¯ |
613 | // roll stick leftmost and pitch stick centered --> setting 1 |
614 | // roll stick leftmost and pitch stick centered --> setting 1 |
614 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
615 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
615 | // roll stick leftmost and pitch stick topmost --> setting 2 |
616 | // roll stick leftmost and pitch stick topmost --> setting 2 |
616 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
617 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
617 | // roll stick centered an pitch stick topmost --> setting 3 |
618 | // roll stick centered an pitch stick topmost --> setting 3 |
618 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
619 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
619 | // roll stick rightmost and pitch stick topmost --> setting 4 |
620 | // roll stick rightmost and pitch stick topmost --> setting 4 |
620 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
621 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
621 | // roll stick rightmost and pitch stick centered --> setting 5 |
622 | // roll stick rightmost and pitch stick centered --> setting 5 |
622 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
623 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
623 | // update active parameter set in eeprom |
624 | // update active parameter set in eeprom |
624 | SetActiveParamSet(setting); |
625 | SetActiveParamSet(setting); |
625 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
626 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
626 | SetNeutral(); |
627 | SetNeutral(); |
627 | Beep(GetActiveParamSet()); |
628 | Beep(GetActiveParamSet()); |
628 | } |
629 | } |
629 | else |
630 | else |
630 | { |
631 | { |
631 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
632 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
632 | { |
633 | { |
633 | // if roll stick is centered and pitch stick is down |
634 | // if roll stick is centered and pitch stick is down |
634 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) |
635 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) |
635 | { |
636 | { |
636 | // pitch/roll joystick |
637 | // pitch/roll joystick |
637 | // _________ |
638 | // _________ |
638 | // | | |
639 | // | | |
639 | // | | |
640 | // | | |
640 | // | | |
641 | // | | |
641 | // | | |
642 | // | | |
642 | // | x | |
643 | // | x | |
643 | // ¯¯¯¯¯¯¯¯¯ |
644 | // ¯¯¯¯¯¯¯¯¯ |
644 | // enable calibration state of compass |
645 | // enable calibration state of compass |
645 | CompassCalState = 1; |
646 | CompassCalState = 1; |
646 | BeepTime = 1000; |
647 | BeepTime = 1000; |
647 | } |
648 | } |
648 | else // pitch and roll are centered |
649 | else // pitch and roll are centered |
649 | { |
650 | { |
650 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
651 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
651 | SetNeutral(); |
652 | SetNeutral(); |
652 | Beep(GetActiveParamSet()); |
653 | Beep(GetActiveParamSet()); |
653 | } |
654 | } |
654 | } |
655 | } |
655 | else // pitch and roll are centered |
656 | else // pitch and roll are centered |
656 | { |
657 | { |
657 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
658 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
658 | SetNeutral(); |
659 | SetNeutral(); |
659 | Beep(GetActiveParamSet()); |
660 | Beep(GetActiveParamSet()); |
660 | } |
661 | } |
661 | } |
662 | } |
662 | } |
663 | } |
663 | } |
664 | } |
664 | // and if the yaw stick is in the rightmost position |
665 | // and if the yaw stick is in the rightmost position |
665 | // save the ACC neutral setting to eeprom |
666 | // save the ACC neutral setting to eeprom |
666 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
667 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
667 | { |
668 | { |
668 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
669 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
669 | { |
670 | { |
670 | delay_neutral = 0; |
671 | delay_neutral = 0; |
671 | GRN_OFF; |
672 | GRN_OFF; |
672 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
673 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
673 | Model_Is_Flying = 0; |
674 | Model_Is_Flying = 0; |
674 | SetNeutral(); |
675 | SetNeutral(); |
675 | // Save ACC neutral settings to eeprom |
676 | // Save ACC neutral settings to eeprom |
676 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
677 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
677 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
678 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
678 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
679 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
679 | Beep(GetActiveParamSet()); |
680 | Beep(GetActiveParamSet()); |
680 | } |
681 | } |
681 | } |
682 | } |
682 | else delay_neutral = 0; |
683 | else delay_neutral = 0; |
683 | } |
684 | } |
684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // thrust stick is down |
686 | // thrust stick is down |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
688 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
688 | { |
689 | { |
689 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | // and yaw stick is rightmost --> start motors |
691 | // and yaw stick is rightmost --> start motors |
691 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
693 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
693 | { |
694 | { |
694 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
695 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
695 | { |
696 | { |
696 | delay_startmotors = 0; // do not repeat if once executed |
697 | delay_startmotors = 0; // do not repeat if once executed |
697 | Model_Is_Flying = 1; |
698 | Model_Is_Flying = 1; |
698 | MotorsOn = 1; |
699 | MotorsOn = 1; |
699 | SetPointYaw = 0; |
700 | SetPointYaw = 0; |
700 | Reading_IntegralGyroYaw = 0; |
701 | Reading_IntegralGyroYaw = 0; |
701 | Reading_IntegralGyroPitch = 0; |
702 | Reading_IntegralGyroPitch = 0; |
702 | Reading_IntegralGyroRoll = 0; |
703 | Reading_IntegralGyroRoll = 0; |
703 | Reading_IntegralGyroPitch2 = IntegralPitch; |
704 | Reading_IntegralGyroPitch2 = IntegralPitch; |
704 | Reading_IntegralGyroRoll2 = IntegralRoll; |
705 | Reading_IntegralGyroRoll2 = IntegralRoll; |
705 | SumPitch = 0; |
706 | SumPitch = 0; |
706 | SumRoll = 0; |
707 | SumRoll = 0; |
707 | #ifdef USE_KILLAGREG |
708 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
708 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
709 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
709 | { |
710 | { |
710 | GPS_SetHomePosition(); |
711 | GPS_SetHomePosition(); |
711 | } |
712 | } |
712 | #endif |
713 | #endif |
713 | } |
714 | } |
714 | } |
715 | } |
715 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
716 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
717 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
717 | // and yaw stick is leftmost --> stop motors |
718 | // and yaw stick is leftmost --> stop motors |
718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
719 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
719 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
720 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
720 | { |
721 | { |
721 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
722 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
722 | { |
723 | { |
723 | delay_stopmotors = 0; // do not repeat if once executed |
724 | delay_stopmotors = 0; // do not repeat if once executed |
724 | Model_Is_Flying = 0; |
725 | Model_Is_Flying = 0; |
725 | MotorsOn = 0; |
726 | MotorsOn = 0; |
726 | #ifdef USE_KILLAGREG |
727 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
727 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
728 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
728 | { |
729 | { |
729 | GPS_ClearHomePosition(); |
730 | GPS_ClearHomePosition(); |
730 | } |
731 | } |
731 | #endif |
732 | #endif |
732 | } |
733 | } |
733 | } |
734 | } |
734 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
735 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
735 | } |
736 | } |
736 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
737 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
737 | } // eof RC_Quality > 150 |
738 | } // eof RC_Quality > 150 |
738 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
739 | // new values from RC |
740 | // new values from RC |
740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
741 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
742 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
742 | { |
743 | { |
743 | int tmp_int; |
744 | int tmp_int; |
744 | ParameterMapping(); // remapping params (online poti replacement) |
745 | ParameterMapping(); // remapping params (online poti replacement) |
745 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
746 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
746 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
747 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
747 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
748 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
748 | StickPitch -= (GPS_Pitch); |
749 | StickPitch -= (GPS_Pitch); |
749 | 750 | ||
750 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
751 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
751 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
752 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
752 | StickRoll -= (GPS_Roll); |
753 | StickRoll -= (GPS_Roll); |
753 | 754 | ||
754 | // direct mapping of yaw and thrust |
755 | // direct mapping of yaw and thrust |
755 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
756 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
756 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
757 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
757 | 758 | ||
758 | // update gyro control loop factors |
759 | // update gyro control loop factors |
759 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
760 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
760 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
761 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
761 | 762 | ||
762 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
763 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
763 | // Digital Control via DubWise |
764 | // Digital Control via DubWise |
764 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
765 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
765 | 766 | ||
766 | #define KEY_VALUE (FCParam.UserParam8 * 4) // step width |
767 | #define KEY_VALUE (FCParam.UserParam8 * 4) // step width |
767 | if(DubWiseKeys[1]) BeepTime = 10; |
768 | if(DubWiseKeys[1]) BeepTime = 10; |
768 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
769 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
769 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
770 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
770 | else tmp_int = 0; |
771 | else tmp_int = 0; |
771 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
772 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
772 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
773 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
773 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
774 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
774 | else tmp_int = 0; |
775 | else tmp_int = 0; |
775 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
776 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
776 | 777 | ||
777 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
778 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
778 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
779 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
779 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
780 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
780 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
781 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
781 | 782 | ||
782 | StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
783 | StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
783 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
784 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
784 | StickYaw += (STICK_GAIN * ExternStickYaw); |
785 | StickYaw += (STICK_GAIN * ExternStickYaw); |
785 | 786 | ||
786 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
787 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
787 | //+ Analog control via serial communication |
788 | //+ Analog control via serial communication |
788 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
789 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
789 | 790 | ||
790 | if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
791 | if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
791 | { |
792 | { |
792 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
793 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
793 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
794 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
794 | StickYaw += ExternControl.Yaw; |
795 | StickYaw += ExternControl.Yaw; |
795 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
796 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
796 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
797 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
797 | } |
798 | } |
798 | if(StickThrust < 0) StickThrust = 0; |
799 | if(StickThrust < 0) StickThrust = 0; |
799 | 800 | ||
800 | // disable I part of gyro control feedback |
801 | // disable I part of gyro control feedback |
801 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
802 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
802 | // avoid negative scaling factors |
803 | // avoid negative scaling factors |
803 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
804 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
804 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
805 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
805 | 806 | ||
806 | 807 | ||
807 | // update max stick positions for pitch and roll |
808 | // update max stick positions for pitch and roll |
808 | 809 | ||
809 | if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
810 | if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
810 | else MaxStickPitch--; |
811 | else MaxStickPitch--; |
811 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
812 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
812 | else MaxStickRoll--; |
813 | else MaxStickRoll--; |
813 | 814 | ||
814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | // Looping? |
816 | // Looping? |
816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
817 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
817 | 818 | ||
818 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
819 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
819 | else |
820 | else |
820 | { |
821 | { |
821 | if(Looping_Left) // Hysteresis |
822 | if(Looping_Left) // Hysteresis |
822 | { |
823 | { |
823 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
824 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
824 | } |
825 | } |
825 | } |
826 | } |
826 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
827 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
827 | else |
828 | else |
828 | { |
829 | { |
829 | if(Looping_Right) // Hysteresis |
830 | if(Looping_Right) // Hysteresis |
830 | { |
831 | { |
831 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
832 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
832 | } |
833 | } |
833 | } |
834 | } |
834 | 835 | ||
835 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
836 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
836 | else |
837 | else |
837 | { |
838 | { |
838 | if(Looping_Top) // Hysteresis |
839 | if(Looping_Top) // Hysteresis |
839 | { |
840 | { |
840 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
841 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
841 | } |
842 | } |
842 | } |
843 | } |
843 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
844 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
844 | else |
845 | else |
845 | { |
846 | { |
846 | if(Looping_Down) // Hysteresis |
847 | if(Looping_Down) // Hysteresis |
847 | { |
848 | { |
848 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
849 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
849 | } |
850 | } |
850 | } |
851 | } |
851 | 852 | ||
852 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
853 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
853 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
854 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
854 | } // End of new RC-Values or Emergency Landing |
855 | } // End of new RC-Values or Emergency Landing |
855 | 856 | ||
856 | 857 | ||
857 | if(Looping_Roll) BeepTime = 100; |
858 | if(Looping_Roll) BeepTime = 100; |
858 | if(Looping_Roll || Looping_Pitch) |
859 | if(Looping_Roll || Looping_Pitch) |
859 | { |
860 | { |
860 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
861 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
861 | } |
862 | } |
862 | 863 | ||
863 | 864 | ||
864 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
865 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
865 | //+ LED Control on J16/J17 |
866 | //+ LED Control on J16/J17 |
866 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
867 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
867 | LED1_Time = FCParam.UserParam7; |
868 | LED1_Time = FCParam.UserParam7; |
868 | LED2_Time = FCParam.UserParam8; |
869 | LED2_Time = FCParam.UserParam8; |
869 | LED_Update(); |
870 | LED_Update(); |
870 | 871 | ||
871 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
872 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
872 | // in case of emergency landing |
873 | // in case of emergency landing |
873 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
874 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
874 | // set all inputs to save values |
875 | // set all inputs to save values |
875 | if(EmergencyLanding) |
876 | if(EmergencyLanding) |
876 | { |
877 | { |
877 | StickYaw = 0; |
878 | StickYaw = 0; |
878 | StickPitch = 0; |
879 | StickPitch = 0; |
879 | StickRoll = 0; |
880 | StickRoll = 0; |
880 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
881 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
881 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
882 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
882 | Looping_Roll = 0; |
883 | Looping_Roll = 0; |
883 | Looping_Pitch = 0; |
884 | Looping_Pitch = 0; |
884 | MaxStickPitch = 0; |
885 | MaxStickPitch = 0; |
885 | MaxStickRoll = 0; |
886 | MaxStickRoll = 0; |
886 | } |
887 | } |
887 | 888 | ||
888 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
889 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
889 | // Trim Gyro-Integrals to ACC-Signals |
890 | // Trim Gyro-Integrals to ACC-Signals |
890 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
891 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
891 | 892 | ||
892 | #define BALANCE_NUMBER 256L |
893 | #define BALANCE_NUMBER 256L |
893 | // sum for averaging |
894 | // sum for averaging |
894 | MeanIntegralPitch += IntegralPitch; |
895 | MeanIntegralPitch += IntegralPitch; |
895 | MeanIntegralRoll += IntegralRoll; |
896 | MeanIntegralRoll += IntegralRoll; |
896 | 897 | ||
897 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
898 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
898 | { |
899 | { |
899 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
900 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
900 | MeasurementCounter = 0; |
901 | MeasurementCounter = 0; |
901 | 902 | ||
902 | IntegralAccPitch = 0; |
903 | IntegralAccPitch = 0; |
903 | IntegralAccRoll = 0; |
904 | IntegralAccRoll = 0; |
904 | 905 | ||
905 | MeanIntegralPitch = 0; |
906 | MeanIntegralPitch = 0; |
906 | MeanIntegralRoll = 0; |
907 | MeanIntegralRoll = 0; |
907 | 908 | ||
908 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
909 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
909 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
910 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
910 | 911 | ||
911 | AttitudeCorrectionPitch = 0; |
912 | AttitudeCorrectionPitch = 0; |
912 | AttitudeCorrectionRoll = 0; |
913 | AttitudeCorrectionRoll = 0; |
913 | } |
914 | } |
914 | 915 | ||
915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
916 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
916 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
917 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
917 | { |
918 | { |
918 | int32_t tmp_long, tmp_long2; |
919 | int32_t tmp_long, tmp_long2; |
919 | // determine the deviation of gyro integral from averaged acceleration sensor |
920 | // determine the deviation of gyro integral from averaged acceleration sensor |
920 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
921 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
921 | tmp_long /= 16; |
922 | tmp_long /= 16; |
922 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
923 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
923 | tmp_long2 /= 16; |
924 | tmp_long2 /= 16; |
924 | 925 | ||
925 | if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
926 | if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
926 | { |
927 | { |
927 | tmp_long /= 3; |
928 | tmp_long /= 3; |
928 | tmp_long2 /= 3; |
929 | tmp_long2 /= 3; |
929 | } |
930 | } |
930 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
931 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
931 | { |
932 | { |
932 | tmp_long /= 3; |
933 | tmp_long /= 3; |
933 | tmp_long2 /= 3; |
934 | tmp_long2 /= 3; |
934 | } |
935 | } |
935 | 936 | ||
936 | #define BALANCE 32 |
937 | #define BALANCE 32 |
937 | // limit correction effect |
938 | // limit correction effect |
938 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
939 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
939 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
940 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
940 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
941 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
941 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
942 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
942 | // correct current readings |
943 | // correct current readings |
943 | Reading_IntegralGyroPitch -= tmp_long; |
944 | Reading_IntegralGyroPitch -= tmp_long; |
944 | Reading_IntegralGyroRoll -= tmp_long2; |
945 | Reading_IntegralGyroRoll -= tmp_long2; |
945 | } |
946 | } |
946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
947 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
947 | // MeasurementCounter is incremented in the isr of analog.c |
948 | // MeasurementCounter is incremented in the isr of analog.c |
948 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
949 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
949 | { |
950 | { |
950 | static int16_t cnt = 0; |
951 | static int16_t cnt = 0; |
951 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
952 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
952 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
953 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
953 | 954 | ||
954 | // if not lopping in any direction (this should be alwais the case, |
955 | // if not lopping in any direction (this should be alwais the case, |
955 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
956 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
956 | if(!Looping_Pitch && !Looping_Roll && !FunnelCourse) |
957 | if(!Looping_Pitch && !Looping_Roll && !FunnelCourse) |
957 | { |
958 | { |
958 | // Calculate mean value of the gyro integrals |
959 | // Calculate mean value of the gyro integrals |
959 | MeanIntegralPitch /= BALANCE_NUMBER; |
960 | MeanIntegralPitch /= BALANCE_NUMBER; |
960 | MeanIntegralRoll /= BALANCE_NUMBER; |
961 | MeanIntegralRoll /= BALANCE_NUMBER; |
961 | 962 | ||
962 | // Calculate mean of the acceleration values |
963 | // Calculate mean of the acceleration values |
963 | IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
964 | IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
964 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
965 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
965 | 966 | ||
966 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
967 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
967 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
968 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
968 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
969 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
969 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
970 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
970 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
971 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
971 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
973 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
973 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
974 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
974 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
975 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
975 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
976 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
976 | 977 | ||
977 | if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
978 | if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
978 | { |
979 | { |
979 | AttitudeCorrectionPitch /= 2; |
980 | AttitudeCorrectionPitch /= 2; |
980 | AttitudeCorrectionRoll /= 2; |
981 | AttitudeCorrectionRoll /= 2; |
981 | } |
982 | } |
982 | 983 | ||
983 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
984 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
984 | // Gyro-Drift ermitteln |
985 | // Gyro-Drift ermitteln |
985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
986 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
986 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
987 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
987 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
988 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
988 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
989 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
989 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
990 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
990 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
991 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
991 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
992 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
992 | 993 | ||
993 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
994 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
994 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
995 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
995 | YawGyroDrift = 0; |
996 | YawGyroDrift = 0; |
996 | /* |
997 | /* |
997 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
998 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
998 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
999 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
999 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
1000 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
1000 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
1001 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
1001 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
1002 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
1002 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
1003 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
1003 | //DebugOut.Analog[28] = CorrectionPitch; |
1004 | //DebugOut.Analog[28] = CorrectionPitch; |
1004 | DebugOut.Analog[29] = CorrectionRoll; |
1005 | DebugOut.Analog[29] = CorrectionRoll; |
1005 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
1006 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
1006 | */ |
1007 | */ |
1007 | 1008 | ||
1008 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
1009 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
1009 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
1010 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
1010 | #define MOVEMENT_LIMIT 20000 |
1011 | #define MOVEMENT_LIMIT 20000 |
1011 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
1012 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
1012 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
1013 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
1013 | CorrectionPitch = 0; |
1014 | CorrectionPitch = 0; |
1014 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
1015 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
1015 | { |
1016 | { |
1016 | if(IntegralErrorPitch > ERROR_LIMIT2) |
1017 | if(IntegralErrorPitch > ERROR_LIMIT2) |
1017 | { |
1018 | { |
1018 | if(last_n_p) |
1019 | if(last_n_p) |
1019 | { |
1020 | { |
1020 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
1021 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
1021 | CorrectionPitch = IntegralErrorPitch / 8; |
1022 | CorrectionPitch = IntegralErrorPitch / 8; |
1022 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
1023 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
1023 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
1024 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
1024 | } |
1025 | } |
1025 | else last_n_p = 1; |
1026 | else last_n_p = 1; |
1026 | } |
1027 | } |
1027 | else last_n_p = 0; |
1028 | else last_n_p = 0; |
1028 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
1029 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
1029 | { |
1030 | { |
1030 | if(last_n_n) |
1031 | if(last_n_n) |
1031 | { |
1032 | { |
1032 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
1033 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
1033 | CorrectionPitch = IntegralErrorPitch / 8; |
1034 | CorrectionPitch = IntegralErrorPitch / 8; |
1034 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
1035 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
1035 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
1036 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
1036 | } |
1037 | } |
1037 | else last_n_n = 1; |
1038 | else last_n_n = 1; |
1038 | } |
1039 | } |
1039 | else last_n_n = 0; |
1040 | else last_n_n = 0; |
1040 | } |
1041 | } |
1041 | else |
1042 | else |
1042 | { |
1043 | { |
1043 | cnt = 0; |
1044 | cnt = 0; |
1044 | BadCompassHeading = 500; |
1045 | BadCompassHeading = 500; |
1045 | } |
1046 | } |
1046 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1047 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1047 | // correct Gyro Offsets |
1048 | // correct Gyro Offsets |
1048 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
1049 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
1049 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
1050 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
1050 | 1051 | ||
1051 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1052 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1052 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
1053 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
1053 | CorrectionRoll = 0; |
1054 | CorrectionRoll = 0; |
1054 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
1055 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
1055 | { |
1056 | { |
1056 | if(IntegralErrorRoll > ERROR_LIMIT2) |
1057 | if(IntegralErrorRoll > ERROR_LIMIT2) |
1057 | { |
1058 | { |
1058 | if(last_r_p) |
1059 | if(last_r_p) |
1059 | { |
1060 | { |
1060 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1061 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1061 | CorrectionRoll = IntegralErrorRoll / 8; |
1062 | CorrectionRoll = IntegralErrorRoll / 8; |
1062 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1063 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1063 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1064 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1064 | } |
1065 | } |
1065 | else last_r_p = 1; |
1066 | else last_r_p = 1; |
1066 | } |
1067 | } |
1067 | else last_r_p = 0; |
1068 | else last_r_p = 0; |
1068 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
1069 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
1069 | { |
1070 | { |
1070 | if(last_r_n) |
1071 | if(last_r_n) |
1071 | { |
1072 | { |
1072 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1073 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1073 | CorrectionRoll = IntegralErrorRoll / 8; |
1074 | CorrectionRoll = IntegralErrorRoll / 8; |
1074 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1075 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1075 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1076 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1076 | } |
1077 | } |
1077 | else last_r_n = 1; |
1078 | else last_r_n = 1; |
1078 | } |
1079 | } |
1079 | else last_r_n = 0; |
1080 | else last_r_n = 0; |
1080 | } |
1081 | } |
1081 | else |
1082 | else |
1082 | { |
1083 | { |
1083 | cnt = 0; |
1084 | cnt = 0; |
1084 | BadCompassHeading = 500; |
1085 | BadCompassHeading = 500; |
1085 | } |
1086 | } |
1086 | // correct Gyro Offsets |
1087 | // correct Gyro Offsets |
1087 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1088 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1088 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
1089 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
1089 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
1090 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
1090 | /* |
1091 | /* |
1091 | DebugOut.Analog[27] = CorrectionRoll; |
1092 | DebugOut.Analog[27] = CorrectionRoll; |
1092 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
1093 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
1093 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
1094 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
1094 | */ |
1095 | */ |
1095 | } |
1096 | } |
1096 | else // looping is active |
1097 | else // looping is active |
1097 | { |
1098 | { |
1098 | AttitudeCorrectionRoll = 0; |
1099 | AttitudeCorrectionRoll = 0; |
1099 | AttitudeCorrectionPitch = 0; |
1100 | AttitudeCorrectionPitch = 0; |
1100 | FunnelCourse = 0; |
1101 | FunnelCourse = 0; |
1101 | } |
1102 | } |
1102 | 1103 | ||
1103 | // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
1104 | // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
1104 | if(!Gyro_I_Factor) |
1105 | if(!Gyro_I_Factor) |
1105 | { |
1106 | { |
1106 | AttitudeCorrectionRoll = 0; |
1107 | AttitudeCorrectionRoll = 0; |
1107 | AttitudeCorrectionPitch = 0; |
1108 | AttitudeCorrectionPitch = 0; |
1108 | } |
1109 | } |
1109 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1110 | MeanIntegralPitch_old = MeanIntegralPitch; |
1111 | MeanIntegralPitch_old = MeanIntegralPitch; |
1111 | MeanIntegralRoll_old = MeanIntegralRoll; |
1112 | MeanIntegralRoll_old = MeanIntegralRoll; |
1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1113 | // reset variables used for averaging |
1114 | // reset variables used for averaging |
1114 | IntegralAccPitch = 0; |
1115 | IntegralAccPitch = 0; |
1115 | IntegralAccRoll = 0; |
1116 | IntegralAccRoll = 0; |
1116 | MeanIntegralPitch = 0; |
1117 | MeanIntegralPitch = 0; |
1117 | MeanIntegralRoll = 0; |
1118 | MeanIntegralRoll = 0; |
1118 | MeasurementCounter = 0; |
1119 | MeasurementCounter = 0; |
1119 | } // end of averaging |
1120 | } // end of averaging |
1120 | 1121 | ||
1121 | 1122 | ||
1122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1123 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1123 | // Yawing |
1124 | // Yawing |
1124 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1125 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1125 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
1126 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
1126 | { |
1127 | { |
1127 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1128 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1128 | { |
1129 | { |
1129 | UpdateCompassCourse = 1; |
1130 | UpdateCompassCourse = 1; |
1130 | CompassCourse = YawGyroHeading; |
1131 | CompassCourse = YawGyroHeading; |
1131 | BadCompassHeading = 250; |
1132 | BadCompassHeading = 250; |
1132 | } |
1133 | } |
1133 | } |
1134 | } |
1134 | // exponential stick sensitivity in yawring rate |
1135 | // exponential stick sensitivity in yawring rate |
1135 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1136 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1136 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1137 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1137 | SetPointYaw = tmp_int; |
1138 | SetPointYaw = tmp_int; |
1138 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
1139 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
1139 | Reading_IntegralGyroYaw -= tmp_int; |
1140 | Reading_IntegralGyroYaw -= tmp_int; |
1140 | // limit the effect |
1141 | // limit the effect |
1141 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1142 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1142 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1143 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1143 | 1144 | ||
1144 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1145 | // Compass |
1146 | // Compass |
1146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1147 | // compass code is used if Compass option is selected |
1148 | // compass code is used if Compass option is selected |
1148 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
1149 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
1149 | { |
1150 | { |
1150 | int16_t w, v, r,correction, error; |
1151 | int16_t w, v, r,correction, error; |
1151 | 1152 | ||
1152 | if(CompassCalState && MotorsOn == 0 ) |
1153 | if(CompassCalState && MotorsOn == 0 ) |
1153 | { |
1154 | { |
1154 | SetCompassCalState(); |
1155 | SetCompassCalState(); |
1155 | #ifdef USE_KILLAGREG |
1156 | #ifdef USE_KILLAGREG |
1156 | MM3_Calibrate(); |
1157 | MM3_Calibrate(); |
1157 | #endif |
1158 | #endif |
1158 | } |
1159 | } |
1159 | else |
1160 | else |
1160 | { |
1161 | { |
1161 | #ifdef USE_KILLAGREG |
1162 | #ifdef USE_KILLAGREG |
1162 | static uint8_t updCompass = 0; |
1163 | static uint8_t updCompass = 0; |
1163 | if (!updCompass--) |
1164 | if (!updCompass--) |
1164 | { |
1165 | { |
1165 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1166 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1166 | MM3_Heading(); |
1167 | MM3_Heading(); |
1167 | } |
1168 | } |
1168 | #endif |
1169 | #endif |
1169 | 1170 | ||
1170 | // get maximum attitude angle |
1171 | // get maximum attitude angle |
1171 | w = abs(IntegralPitch/512); |
1172 | w = abs(IntegralPitch/512); |
1172 | v = abs(IntegralRoll /512); |
1173 | v = abs(IntegralRoll /512); |
1173 | if(v > w) w = v; |
1174 | if(v > w) w = v; |
1174 | // update compass course |
1175 | // update compass course |
1175 | if (w < 25 && UpdateCompassCourse && !BadCompassHeading) |
1176 | if (w < 25 && UpdateCompassCourse && !BadCompassHeading) |
1176 | { |
1177 | { |
1177 | BeepTime = 200; |
1178 | BeepTime = 200; |
1178 | CompassCourse = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
1179 | CompassCourse = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
1179 | UpdateCompassCourse = 0; |
1180 | UpdateCompassCourse = 0; |
1180 | } |
1181 | } |
1181 | // calculate the deviation of the yaw gyro heading and the compass heading |
1182 | // calculate the deviation of the yaw gyro heading and the compass heading |
1182 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
1183 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
1183 | else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
1184 | else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
1184 | correction = w / 8 + 1; |
1185 | correction = w / 8 + 1; |
1185 | YawGyroHeading += (error * 8) / correction; |
1186 | YawGyroHeading += (error * 8) / correction; |
1186 | w = (w * FCParam.CompassYawEffect) / 64; |
1187 | w = (w * FCParam.CompassYawEffect) / 64; |
1187 | w = FCParam.CompassYawEffect - w; |
1188 | w = FCParam.CompassYawEffect - w; |
1188 | if(w > 0) |
1189 | if(w > 0) |
1189 | { |
1190 | { |
1190 | if(BadCompassHeading) |
1191 | if(BadCompassHeading) |
1191 | { // wait a while |
1192 | { // wait a while |
1192 | BadCompassHeading--; |
1193 | BadCompassHeading--; |
1193 | } |
1194 | } |
1194 | else |
1195 | else |
1195 | { // |
1196 | { // |
1196 | YawGyroDrift += error; |
1197 | YawGyroDrift += error; |
1197 | v = 64 + (MaxStickPitch + MaxStickRoll) / 8; |
1198 | v = 64 + (MaxStickPitch + MaxStickRoll) / 8; |
1198 | // calc course deviation |
1199 | // calc course deviation |
1199 | r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
1200 | r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
1200 | v = (r * w) / v; // align to compass course |
1201 | v = (r * w) / v; // align to compass course |
1201 | // limit yaw rate |
1202 | // limit yaw rate |
1202 | w = 3 * FCParam.CompassYawEffect; |
1203 | w = 3 * FCParam.CompassYawEffect; |
1203 | if (v > w) v = w; |
1204 | if (v > w) v = w; |
1204 | else if (v < -w) v = -w; |
1205 | else if (v < -w) v = -w; |
1205 | Reading_IntegralGyroYaw += v; |
1206 | Reading_IntegralGyroYaw += v; |
1206 | } |
1207 | } |
1207 | } |
1208 | } |
1208 | else |
1209 | else |
1209 | { // ignore compass at extreme attitudes for a while |
1210 | { // ignore compass at extreme attitudes for a while |
1210 | BadCompassHeading = 250; |
1211 | BadCompassHeading = 250; |
1211 | } |
1212 | } |
1212 | } |
1213 | } |
1213 | } |
1214 | } |
1214 | 1215 | ||
1215 | #ifdef USE_KILLAGREG |
1216 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
1216 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1217 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1217 | // GPS |
1218 | // GPS |
1218 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1219 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1220 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1220 | { |
1221 | { |
1221 | GPS_I_Factor = FCParam.UserParam2; |
1222 | GPS_I_Factor = FCParam.UserParam2; |
1222 | GPS_P_Factor = FCParam.UserParam5; |
1223 | GPS_P_Factor = FCParam.UserParam5; |
1223 | GPS_D_Factor = FCParam.UserParam6; |
1224 | GPS_D_Factor = FCParam.UserParam6; |
1224 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
1225 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
1225 | else GPS_Main(Poti3); // behavior controlled by Poti3 |
1226 | else GPS_Main(Poti3); // behavior controlled by Poti3 |
1226 | } |
1227 | } |
1227 | else |
1228 | else |
1228 | { |
1229 | { |
1229 | GPS_Pitch = 0; |
1230 | GPS_Pitch = 0; |
1230 | GPS_Roll = 0; |
1231 | GPS_Roll = 0; |
1231 | } |
1232 | } |
1232 | #endif |
1233 | #endif |
1233 | 1234 | ||
1234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1235 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1235 | // Debugwerte zuordnen |
1236 | // Debugwerte zuordnen |
1236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1237 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1237 | if(!TimerDebugOut--) |
1238 | if(!TimerDebugOut--) |
1238 | { |
1239 | { |
1239 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1240 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1240 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
1241 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
1241 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
1242 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
1242 | DebugOut.Analog[2] = Mean_AccPitch; |
1243 | DebugOut.Analog[2] = Mean_AccPitch; |
1243 | DebugOut.Analog[3] = Mean_AccRoll; |
1244 | DebugOut.Analog[3] = Mean_AccRoll; |
1244 | DebugOut.Analog[4] = Reading_GyroYaw; |
1245 | DebugOut.Analog[4] = Reading_GyroYaw; |
1245 | DebugOut.Analog[5] = ReadingHeight; |
1246 | DebugOut.Analog[5] = ReadingHeight; |
1246 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1247 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1247 | // DebugOut.Analog[8] = CompassHeading; |
1248 | // DebugOut.Analog[8] = CompassHeading; |
1248 | DebugOut.Analog[8] = RC_Quality; |
1249 | DebugOut.Analog[8] = RC_Quality; |
1249 | DebugOut.Analog[9] = UBat; |
1250 | DebugOut.Analog[9] = UBat; |
1250 | 1251 | ||
1251 | #ifdef HEXAKOPTER |
1252 | #ifdef HEXAKOPTER |
1252 | DebugOut.Analog[10] = Motor_FrontLeft; |
1253 | DebugOut.Analog[10] = Motor_FrontLeft; |
1253 | DebugOut.Analog[11] = Motor_FrontRight; |
1254 | DebugOut.Analog[11] = Motor_FrontRight; |
1254 | DebugOut.Analog[12] = Motor_RearLeft; |
1255 | DebugOut.Analog[12] = Motor_RearLeft; |
1255 | DebugOut.Analog[13] = Motor_RearRight; |
1256 | DebugOut.Analog[13] = Motor_RearRight; |
1256 | DebugOut.Analog[14] = Motor_Left; |
1257 | DebugOut.Analog[14] = Motor_Left; |
1257 | DebugOut.Analog[15] = Motor_Right; |
1258 | DebugOut.Analog[15] = Motor_Right; |
1258 | #else |
1259 | #else |
1259 | DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
1260 | DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
1260 | 1261 | ||
1261 | DebugOut.Analog[12] = Motor_Front; |
1262 | DebugOut.Analog[12] = Motor_Front; |
1262 | DebugOut.Analog[13] = Motor_Rear; |
1263 | DebugOut.Analog[13] = Motor_Rear; |
1263 | DebugOut.Analog[14] = Motor_Left; |
1264 | DebugOut.Analog[14] = Motor_Left; |
1264 | DebugOut.Analog[15] = Motor_Right; |
1265 | DebugOut.Analog[15] = Motor_Right; |
1265 | #endif |
1266 | #endif |
1266 | 1267 | ||
1267 | DebugOut.Analog[16] = Mean_AccTop; |
1268 | DebugOut.Analog[16] = Mean_AccTop; |
1268 | 1269 | ||
1269 | DebugOut.Analog[20] = ServoValue; |
1270 | DebugOut.Analog[20] = ServoValue; |
1270 | 1271 | ||
1271 | 1272 | ||
1272 | 1273 | ||
1273 | DebugOut.Analog[30] = GPS_Pitch; |
1274 | DebugOut.Analog[30] = GPS_Pitch; |
1274 | DebugOut.Analog[31] = GPS_Roll; |
1275 | DebugOut.Analog[31] = GPS_Roll; |
1275 | 1276 | ||
1276 | /* DebugOut.Analog[16] = motor_rx[0]; |
1277 | /* DebugOut.Analog[16] = motor_rx[0]; |
1277 | DebugOut.Analog[17] = motor_rx[1]; |
1278 | DebugOut.Analog[17] = motor_rx[1]; |
1278 | DebugOut.Analog[18] = motor_rx[2]; |
1279 | DebugOut.Analog[18] = motor_rx[2]; |
1279 | DebugOut.Analog[19] = motor_rx[3]; |
1280 | DebugOut.Analog[19] = motor_rx[3]; |
1280 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1281 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1281 | DebugOut.Analog[20] /= 14; |
1282 | DebugOut.Analog[20] /= 14; |
1282 | DebugOut.Analog[21] = motor_rx[4]; |
1283 | DebugOut.Analog[21] = motor_rx[4]; |
1283 | DebugOut.Analog[22] = motor_rx[5]; |
1284 | DebugOut.Analog[22] = motor_rx[5]; |
1284 | DebugOut.Analog[23] = motor_rx[6]; |
1285 | DebugOut.Analog[23] = motor_rx[6]; |
1285 | DebugOut.Analog[24] = motor_rx[7]; |
1286 | DebugOut.Analog[24] = motor_rx[7]; |
1286 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1287 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1287 | 1288 | ||
1288 | DebugOut.Analog[9] = Reading_GyroPitch; |
1289 | DebugOut.Analog[9] = Reading_GyroPitch; |
1289 | DebugOut.Analog[9] = SetPointHeight; |
1290 | DebugOut.Analog[9] = SetPointHeight; |
1290 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1291 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1291 | 1292 | ||
1292 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1293 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1293 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1294 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1294 | DebugOut.Analog[9] = CompassOffCourse; |
1295 | DebugOut.Analog[9] = CompassOffCourse; |
1295 | DebugOut.Analog[10] = ThrustMixFraction; |
1296 | DebugOut.Analog[10] = ThrustMixFraction; |
1296 | DebugOut.Analog[3] = HeightD * 32; |
1297 | DebugOut.Analog[3] = HeightD * 32; |
1297 | DebugOut.Analog[4] = HeightControlThrust; |
1298 | DebugOut.Analog[4] = HeightControlThrust; |
1298 | */ |
1299 | */ |
1299 | } |
1300 | } |
1300 | 1301 | ||
1301 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1302 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1302 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1303 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1303 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1304 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1304 | 1305 | ||
1305 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1306 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1306 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1307 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1307 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1308 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1308 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1309 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1309 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1310 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1310 | 1311 | ||
1311 | DebugOut.Analog[21] = Reading_GyroPitch; |
1312 | DebugOut.Analog[21] = Reading_GyroPitch; |
1312 | DebugOut.Analog[22] = Reading_GyroRoll; |
1313 | DebugOut.Analog[22] = Reading_GyroRoll; |
1313 | 1314 | ||
1314 | // limit control feedback |
1315 | // limit control feedback |
1315 | #define MAX_SENSOR (4096 * STICK_GAIN) |
1316 | #define MAX_SENSOR (4096 * STICK_GAIN) |
1316 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1317 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1317 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1318 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1318 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1319 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1319 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1320 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1320 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1321 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1321 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1322 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1322 | 1323 | ||
1323 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1324 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1324 | // Height Control |
1325 | // Height Control |
1325 | // The height control algorithm reduces the thrust but does not increase the thrust. |
1326 | // The height control algorithm reduces the thrust but does not increase the thrust. |
1326 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1327 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1327 | 1328 | ||
1328 | ThrustMixFraction *= STICK_GAIN; |
1329 | ThrustMixFraction *= STICK_GAIN; |
1329 | 1330 | ||
1330 | // If height control is activated and no emergency landing is active |
1331 | // If height control is activated and no emergency landing is active |
1331 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1332 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1332 | { |
1333 | { |
1333 | int tmp_int; |
1334 | int tmp_int; |
1334 | // if height control is activated by an rc channel |
1335 | // if height control is activated by an rc channel |
1335 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1336 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1336 | { // check if parameter is less than activation threshold |
1337 | { // check if parameter is less than activation threshold |
1337 | if(FCParam.MaxHeight < 50) |
1338 | if(FCParam.MaxHeight < 50) |
1338 | { |
1339 | { |
1339 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1340 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1340 | HeightControlActive = 0; // disable height control |
1341 | HeightControlActive = 0; // disable height control |
1341 | } |
1342 | } |
1342 | else HeightControlActive = 1; // enable height control |
1343 | else HeightControlActive = 1; // enable height control |
1343 | } |
1344 | } |
1344 | else // no switchable height control |
1345 | else // no switchable height control |
1345 | { |
1346 | { |
1346 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1347 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1347 | HeightControlActive = 1; |
1348 | HeightControlActive = 1; |
1348 | } |
1349 | } |
1349 | // get current height |
1350 | // get current height |
1350 | h = ReadingHeight; |
1351 | h = ReadingHeight; |
1351 | // if current height is above the setpoint reduce thrust |
1352 | // if current height is above the setpoint reduce thrust |
1352 | if((h > SetPointHeight) && HeightControlActive) |
1353 | if((h > SetPointHeight) && HeightControlActive) |
1353 | { |
1354 | { |
1354 | // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
1355 | // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
1355 | // height difference -> P control part |
1356 | // height difference -> P control part |
1356 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
1357 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
1357 | h = ThrustMixFraction - h; // reduce gas |
1358 | h = ThrustMixFraction - h; // reduce gas |
1358 | // height gradient --> D control part |
1359 | // height gradient --> D control part |
1359 | //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
1360 | //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
1360 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1361 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1361 | // acceleration sensor effect |
1362 | // acceleration sensor effect |
1362 | tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
1363 | tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
1363 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1364 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1364 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
1365 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
1365 | h -= tmp_int; |
1366 | h -= tmp_int; |
1366 | // update height control thrust |
1367 | // update height control thrust |
1367 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
1368 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
1368 | // limit thrust reduction |
1369 | // limit thrust reduction |
1369 | if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN) |
1370 | if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN) |
1370 | { |
1371 | { |
1371 | if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN; |
1372 | if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN; |
1372 | // allows landing also if thrust stick is reduced below min thrust on height control |
1373 | // allows landing also if thrust stick is reduced below min thrust on height control |
1373 | if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction; |
1374 | if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction; |
1374 | } |
1375 | } |
1375 | // limit thrust to stick setting |
1376 | // limit thrust to stick setting |
1376 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
1377 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
1377 | ThrustMixFraction = HeightControlThrust; |
1378 | ThrustMixFraction = HeightControlThrust; |
1378 | } |
1379 | } |
1379 | } |
1380 | } |
1380 | // limit thrust to parameter setting |
1381 | // limit thrust to parameter setting |
1381 | if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN; |
1382 | if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN; |
1382 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1383 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1383 | // + Mixer and PI-Controller |
1384 | // + Mixer and PI-Controller |
1384 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1385 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1385 | DebugOut.Analog[7] = ThrustMixFraction; |
1386 | DebugOut.Analog[7] = ThrustMixFraction; |
1386 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1387 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1387 | // Yaw-Fraction |
1388 | // Yaw-Fraction |
1388 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1389 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1389 | YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
1390 | YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
1390 | #define MIN_YAWTHRUST (40 * STICK_GAIN) // yaw also below this thrust value |
1391 | #define MIN_YAWTHRUST (40 * STICK_GAIN) // yaw also below this thrust value |
1391 | // limit YawMixFraction |
1392 | // limit YawMixFraction |
1392 | if(ThrustMixFraction > MIN_YAWTHRUST) |
1393 | if(ThrustMixFraction > MIN_YAWTHRUST) |
1393 | { |
1394 | { |
1394 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1395 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1395 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1396 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1396 | } |
1397 | } |
1397 | else |
1398 | else |
1398 | { |
1399 | { |
1399 | if(YawMixFraction > (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2; |
1400 | if(YawMixFraction > (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2; |
1400 | if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2); |
1401 | if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2); |
1401 | } |
1402 | } |
1402 | tmp_int = ParamSet.Trust_Max * STICK_GAIN; |
1403 | tmp_int = ParamSet.Trust_Max * STICK_GAIN; |
1403 | if(YawMixFraction > ((tmp_int - ThrustMixFraction))) YawMixFraction = ((tmp_int - ThrustMixFraction)); |
1404 | if(YawMixFraction > ((tmp_int - ThrustMixFraction))) YawMixFraction = ((tmp_int - ThrustMixFraction)); |
1404 | if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction)); |
1405 | if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction)); |
1405 | 1406 | ||
1406 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1407 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1407 | // Pitch-Axis |
1408 | // Pitch-Axis |
1408 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1409 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1409 | DiffPitch = Reading_GyroPitch - StickPitch; // get difference |
1410 | DiffPitch = Reading_GyroPitch - StickPitch; // get difference |
1410 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control |
1411 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control |
1411 | else SumPitch += DiffPitch; // I-part for head holding |
1412 | else SumPitch += DiffPitch; // I-part for head holding |
1412 | if(SumPitch > (STICK_GAIN * 16000L)) SumPitch = (STICK_GAIN * 16000L); |
1413 | if(SumPitch > (STICK_GAIN * 16000L)) SumPitch = (STICK_GAIN * 16000L); |
1413 | if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L); |
1414 | if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L); |
1414 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1415 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1415 | 1416 | ||
1416 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1417 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1417 | if(pd_result > tmp_int) pd_result = tmp_int; |
1418 | if(pd_result > tmp_int) pd_result = tmp_int; |
1418 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1419 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1419 | 1420 | ||
1420 | PitchMixFraction = pd_result; |
1421 | PitchMixFraction = pd_result; |
1421 | 1422 | ||
1422 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1423 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1423 | // Roll-Axis |
1424 | // Roll-Axis |
1424 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1425 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1425 | DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
1426 | DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
1426 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
1427 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
1427 | else SumRoll += DiffRoll; // I-part for head holding |
1428 | else SumRoll += DiffRoll; // I-part for head holding |
1428 | if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
1429 | if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
1429 | if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
1430 | if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
1430 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1431 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1431 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1432 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1432 | if(pd_result > tmp_int) pd_result = tmp_int; |
1433 | if(pd_result > tmp_int) pd_result = tmp_int; |
1433 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1434 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1434 | 1435 | ||
1435 | RollMixFraction = pd_result; |
1436 | RollMixFraction = pd_result; |
1436 | 1437 | ||
1437 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1438 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1438 | // Calculate Motor Mixes |
1439 | // Calculate Motor Mixes |
1439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1440 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1440 | 1441 | ||
1441 | #ifdef HEXAKOPTER |
1442 | #ifdef HEXAKOPTER |
1442 | // Motor FrontLeft |
1443 | // Motor FrontLeft |
1443 | MotorValue = ThrustMixFraction |
1444 | MotorValue = ThrustMixFraction |
1444 | + PitchMixFraction |
1445 | + PitchMixFraction |
1445 | + RollMixFraction/2 |
1446 | + RollMixFraction/2 |
1446 | - YawMixFraction; // Mixer |
1447 | - YawMixFraction; // Mixer |
1447 | MotorValue /= STICK_GAIN; |
1448 | MotorValue /= STICK_GAIN; |
1448 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1449 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1449 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1450 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1450 | Motor_FrontLeft = MotorValue; |
1451 | Motor_FrontLeft = MotorValue; |
1451 | 1452 | ||
1452 | // Motor FrontRight |
1453 | // Motor FrontRight |
1453 | MotorValue = ThrustMixFraction |
1454 | MotorValue = ThrustMixFraction |
1454 | + PitchMixFraction |
1455 | + PitchMixFraction |
1455 | - RollMixFraction/2 |
1456 | - RollMixFraction/2 |
1456 | + YawMixFraction; // Mixer |
1457 | + YawMixFraction; // Mixer |
1457 | MotorValue /= STICK_GAIN; |
1458 | MotorValue /= STICK_GAIN; |
1458 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1459 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1459 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1460 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1460 | Motor_FrontRight = MotorValue; |
1461 | Motor_FrontRight = MotorValue; |
1461 | 1462 | ||
1462 | // Motor RearLeft |
1463 | // Motor RearLeft |
1463 | MotorValue = ThrustMixFraction |
1464 | MotorValue = ThrustMixFraction |
1464 | - PitchMixFraction |
1465 | - PitchMixFraction |
1465 | + RollMixFraction/2 |
1466 | + RollMixFraction/2 |
1466 | - YawMixFraction; // Mixer |
1467 | - YawMixFraction; // Mixer |
1467 | MotorValue /= STICK_GAIN; |
1468 | MotorValue /= STICK_GAIN; |
1468 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1469 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1469 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1470 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1470 | Motor_RearLeft = MotorValue; |
1471 | Motor_RearLeft = MotorValue; |
1471 | 1472 | ||
1472 | // Motor RearRight |
1473 | // Motor RearRight |
1473 | MotorValue = ThrustMixFraction |
1474 | MotorValue = ThrustMixFraction |
1474 | - PitchMixFraction |
1475 | - PitchMixFraction |
1475 | - RollMixFraction/2 |
1476 | - RollMixFraction/2 |
1476 | + YawMixFraction; // Mixer |
1477 | + YawMixFraction; // Mixer |
1477 | MotorValue /= STICK_GAIN; |
1478 | MotorValue /= STICK_GAIN; |
1478 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1479 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1479 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1480 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1480 | Motor_RearRight= MotorValue; |
1481 | Motor_RearRight= MotorValue; |
1481 | 1482 | ||
1482 | // Motor Left |
1483 | // Motor Left |
1483 | MotorValue = ThrustMixFraction |
1484 | MotorValue = ThrustMixFraction |
1484 | + RollMixFraction |
1485 | + RollMixFraction |
1485 | + YawMixFraction; // Mixer |
1486 | + YawMixFraction; // Mixer |
1486 | MotorValue /= STICK_GAIN; |
1487 | MotorValue /= STICK_GAIN; |
1487 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1488 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1488 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1489 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1489 | Motor_Left = MotorValue; |
1490 | Motor_Left = MotorValue; |
1490 | 1491 | ||
1491 | // Motor Right |
1492 | // Motor Right |
1492 | MotorValue = ThrustMixFraction |
1493 | MotorValue = ThrustMixFraction |
1493 | - RollMixFraction |
1494 | - RollMixFraction |
1494 | - YawMixFraction; // Mixer |
1495 | - YawMixFraction; // Mixer |
1495 | MotorValue /= STICK_GAIN; |
1496 | MotorValue /= STICK_GAIN; |
1496 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1497 | if (MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1497 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1498 | else if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1498 | Motor_Right = MotorValue; |
1499 | Motor_Right = MotorValue; |
1499 | 1500 | ||
1500 | #else |
1501 | #else |
1501 | 1502 | ||
1502 | // Motor Front |
1503 | // Motor Front |
1503 | MotorValue = ThrustMixFraction + PitchMixFraction + YawMixFraction; // Mixer |
1504 | MotorValue = ThrustMixFraction + PitchMixFraction + YawMixFraction; // Mixer |
1504 | MotorValue /= STICK_GAIN; |
1505 | MotorValue /= STICK_GAIN; |
1505 | if ((MotorValue < 0)) MotorValue = 0; |
1506 | if ((MotorValue < 0)) MotorValue = 0; |
1506 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1507 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1507 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1508 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1508 | Motor_Front = MotorValue; |
1509 | Motor_Front = MotorValue; |
1509 | 1510 | ||
1510 | // Motor Rear |
1511 | // Motor Rear |
1511 | MotorValue = ThrustMixFraction - PitchMixFraction + YawMixFraction; // Mixer |
1512 | MotorValue = ThrustMixFraction - PitchMixFraction + YawMixFraction; // Mixer |
1512 | MotorValue /= STICK_GAIN; |
1513 | MotorValue /= STICK_GAIN; |
1513 | if ((MotorValue < 0)) MotorValue = 0; |
1514 | if ((MotorValue < 0)) MotorValue = 0; |
1514 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1515 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1515 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1516 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1516 | Motor_Rear = MotorValue; |
1517 | Motor_Rear = MotorValue; |
1517 | 1518 | ||
1518 | 1519 | ||
1519 | // Motor Left |
1520 | // Motor Left |
1520 | MotorValue = ThrustMixFraction + RollMixFraction - YawMixFraction; // Mixer |
1521 | MotorValue = ThrustMixFraction + RollMixFraction - YawMixFraction; // Mixer |
1521 | MotorValue /= STICK_GAIN; |
1522 | MotorValue /= STICK_GAIN; |
1522 | if ((MotorValue < 0)) MotorValue = 0; |
1523 | if ((MotorValue < 0)) MotorValue = 0; |
1523 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1524 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1524 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1525 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1525 | Motor_Left = MotorValue; |
1526 | Motor_Left = MotorValue; |
1526 | 1527 | ||
1527 | // Motor Right |
1528 | // Motor Right |
1528 | MotorValue = ThrustMixFraction - RollMixFraction - YawMixFraction; // Mixer |
1529 | MotorValue = ThrustMixFraction - RollMixFraction - YawMixFraction; // Mixer |
1529 | MotorValue /= STICK_GAIN; |
1530 | MotorValue /= STICK_GAIN; |
1530 | if ((MotorValue < 0)) MotorValue = 0; |
1531 | if ((MotorValue < 0)) MotorValue = 0; |
1531 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1532 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1532 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1533 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1533 | Motor_Right = MotorValue; |
1534 | Motor_Right = MotorValue; |
1534 | #endif |
1535 | #endif |
1535 | } |
1536 | } |
1536 | 1537 | ||
1537 | 1538 |