Rev 952 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 952 | Rev 953 | ||
---|---|---|---|
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 | #ifdef USE_MK3MAG |
71 | #ifdef USE_MK3MAG |
72 | #include "mk3mag.h" |
72 | #include "mk3mag.h" |
73 | #include "gps.h" |
73 | #include "gps.h" |
74 | #endif |
74 | #endif |
75 | #include "led.h" |
75 | #include "led.h" |
76 | 76 | ||
77 | // gyro readings |
77 | // gyro readings |
78 | int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
78 | int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
79 | // gyro neutral readings |
79 | // gyro neutral readings |
80 | int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
80 | int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
81 | int16_t StartNeutralRoll = 0, StartNeutralNick = 0; |
81 | int16_t StartNeutralRoll = 0, StartNeutralNick = 0; |
82 | // mean accelerations |
82 | // mean accelerations |
83 | int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
83 | int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
84 | 84 | ||
85 | // neutral acceleration readings |
85 | // neutral acceleration readings |
86 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
86 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
87 | volatile float NeutralAccZ = 0; |
87 | volatile float NeutralAccZ = 0; |
88 | 88 | ||
89 | // attitude gyro integrals |
89 | // attitude gyro integrals |
90 | int32_t IntegralNick = 0,IntegralNick2 = 0; |
90 | int32_t IntegralNick = 0,IntegralNick2 = 0; |
91 | int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
91 | int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
92 | int32_t IntegralYaw = 0; |
92 | int32_t IntegralYaw = 0; |
93 | int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0; |
93 | int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0; |
94 | int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
94 | int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
95 | int32_t Reading_IntegralGyroYaw = 0; |
95 | int32_t Reading_IntegralGyroYaw = 0; |
96 | int32_t MeanIntegralNick; |
96 | int32_t MeanIntegralNick; |
97 | int32_t MeanIntegralRoll; |
97 | int32_t MeanIntegralRoll; |
98 | 98 | ||
99 | // attitude acceleration integrals |
99 | // attitude acceleration integrals |
100 | int32_t IntegralAccNick = 0, IntegralAccRoll = 0; |
100 | int32_t IntegralAccNick = 0, IntegralAccRoll = 0; |
101 | volatile int32_t Reading_Integral_Top = 0; |
101 | volatile int32_t Reading_Integral_Top = 0; |
102 | 102 | ||
103 | // compass course |
103 | // compass course |
104 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
104 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
105 | volatile int16_t CompassCourse = -1; |
105 | volatile int16_t CompassCourse = -1; |
106 | volatile int16_t CompassOffCourse = 0; |
106 | volatile int16_t CompassOffCourse = 0; |
107 | volatile uint8_t CompassCalState = 0; |
107 | volatile uint8_t CompassCalState = 0; |
108 | uint8_t FunnelCourse = 0; |
108 | uint8_t FunnelCourse = 0; |
109 | uint16_t BadCompassHeading = 500; |
109 | uint16_t BadCompassHeading = 500; |
110 | int32_t YawGyroHeading; |
110 | int32_t YawGyroHeading; |
111 | int16_t YawGyroDrift; |
111 | int16_t YawGyroDrift; |
112 | 112 | ||
113 | 113 | ||
114 | int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
114 | int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
115 | 115 | ||
116 | 116 | ||
117 | // MK flags |
117 | // MK flags |
118 | uint16_t Model_Is_Flying = 0; |
118 | uint16_t Model_Is_Flying = 0; |
119 | volatile uint8_t MKFlags = 0; |
119 | volatile uint8_t MKFlags = 0; |
120 | 120 | ||
121 | int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
121 | int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
122 | 122 | ||
123 | float Gyro_P_Factor; |
123 | float Gyro_P_Factor; |
124 | float Gyro_I_Factor; |
124 | float Gyro_I_Factor; |
125 | 125 | ||
126 | int16_t DiffNick, DiffRoll; |
126 | int16_t DiffNick, DiffRoll; |
127 | 127 | ||
128 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
128 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
129 | 129 | ||
130 | // setpoints for motors |
130 | // setpoints for motors |
131 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
131 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
132 | 132 | ||
133 | // stick values derived by rc channels readings |
133 | // stick values derived by rc channels readings |
134 | int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
134 | int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
135 | int16_t GPS_Nick = 0, GPS_Roll = 0; |
135 | int16_t GPS_Nick = 0, GPS_Roll = 0; |
136 | 136 | ||
137 | int16_t MaxStickNick = 0, MaxStickRoll = 0; |
137 | int16_t MaxStickNick = 0, MaxStickRoll = 0; |
138 | // stick values derived by uart inputs |
138 | // stick values derived by uart inputs |
139 | int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
139 | int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
140 | 140 | ||
141 | 141 | ||
142 | 142 | ||
143 | 143 | ||
144 | int16_t ReadingHeight = 0; |
144 | int16_t ReadingHeight = 0; |
145 | int16_t SetPointHeight = 0; |
145 | int16_t SetPointHeight = 0; |
146 | 146 | ||
147 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
147 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
148 | 148 | ||
149 | float Ki = FACTOR_I; |
149 | float Ki = FACTOR_I; |
150 | 150 | ||
151 | uint8_t Looping_Nick = 0, Looping_Roll = 0; |
151 | uint8_t Looping_Nick = 0, Looping_Roll = 0; |
152 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
152 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
153 | 153 | ||
154 | 154 | ||
155 | 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}; |
155 | 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}; |
156 | 156 | ||
157 | 157 | ||
158 | /************************************************************************/ |
158 | /************************************************************************/ |
159 | /* Creates numbeeps beeps at the speaker */ |
159 | /* Creates numbeeps beeps at the speaker */ |
160 | /************************************************************************/ |
160 | /************************************************************************/ |
161 | void Beep(uint8_t numbeeps) |
161 | void Beep(uint8_t numbeeps) |
162 | { |
162 | { |
163 | while(numbeeps--) |
163 | while(numbeeps--) |
164 | { |
164 | { |
165 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
165 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
166 | BeepTime = 100; // 0.1 second |
166 | BeepTime = 100; // 0.1 second |
167 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
167 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
168 | // this will block the flight control loop, |
168 | // this will block the flight control loop, |
169 | // therefore do not use this function if motors are running |
169 | // therefore do not use this function if motors are running |
170 | } |
170 | } |
171 | } |
171 | } |
172 | 172 | ||
173 | /************************************************************************/ |
173 | /************************************************************************/ |
174 | /* Neutral Readings */ |
174 | /* Neutral Readings */ |
175 | /************************************************************************/ |
175 | /************************************************************************/ |
176 | void SetNeutral(void) |
176 | void SetNeutral(void) |
177 | { |
177 | { |
178 | NeutralAccX = 0; |
178 | NeutralAccX = 0; |
179 | NeutralAccY = 0; |
179 | NeutralAccY = 0; |
180 | NeutralAccZ = 0; |
180 | NeutralAccZ = 0; |
181 | AdNeutralNick = 0; |
181 | AdNeutralNick = 0; |
182 | AdNeutralRoll = 0; |
182 | AdNeutralRoll = 0; |
183 | AdNeutralYaw = 0; |
183 | AdNeutralYaw = 0; |
184 | FCParam.Yaw_PosFeedback = 0; |
184 | FCParam.Yaw_PosFeedback = 0; |
185 | FCParam.Yaw_NegFeedback = 0; |
185 | FCParam.Yaw_NegFeedback = 0; |
186 | CalibMean(); |
186 | CalibMean(); |
187 | Delay_ms_Mess(100); |
187 | Delay_ms_Mess(100); |
188 | CalibMean(); |
188 | CalibMean(); |
189 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
189 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
190 | { |
190 | { |
191 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
191 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
192 | } |
192 | } |
193 | AdNeutralNick = AdValueGyrNick; |
193 | AdNeutralNick = AdValueGyrNick; |
194 | AdNeutralRoll = AdValueGyrRoll; |
194 | AdNeutralRoll = AdValueGyrRoll; |
195 | AdNeutralYaw = AdValueGyrYaw; |
195 | AdNeutralYaw = AdValueGyrYaw; |
196 | StartNeutralRoll = AdNeutralRoll; |
196 | StartNeutralRoll = AdNeutralRoll; |
197 | StartNeutralNick = AdNeutralNick; |
197 | StartNeutralNick = AdNeutralNick; |
198 | if(GetParamWord(PID_ACC_NICK) > 1023) |
198 | if(GetParamWord(PID_ACC_NICK) > 1023) |
199 | { |
199 | { |
200 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
200 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
201 | NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY; |
201 | NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY; |
202 | NeutralAccZ = Current_AccZ; |
202 | NeutralAccZ = Current_AccZ; |
203 | } |
203 | } |
204 | else |
204 | else |
205 | { |
205 | { |
206 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
206 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
207 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
207 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
208 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
208 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
209 | } |
209 | } |
210 | Reading_IntegralGyroNick = 0; |
210 | Reading_IntegralGyroNick = 0; |
211 | Reading_IntegralGyroNick2 = 0; |
211 | Reading_IntegralGyroNick2 = 0; |
212 | Reading_IntegralGyroRoll = 0; |
212 | Reading_IntegralGyroRoll = 0; |
213 | Reading_IntegralGyroRoll2 = 0; |
213 | Reading_IntegralGyroRoll2 = 0; |
214 | Reading_IntegralGyroYaw = 0; |
214 | Reading_IntegralGyroYaw = 0; |
215 | Reading_GyroNick = 0; |
215 | Reading_GyroNick = 0; |
216 | Reading_GyroRoll = 0; |
216 | Reading_GyroRoll = 0; |
217 | Reading_GyroYaw = 0; |
217 | Reading_GyroYaw = 0; |
218 | Delay_ms_Mess(100); |
218 | Delay_ms_Mess(100); |
219 | StartAirPressure = AirPressure; |
219 | StartAirPressure = AirPressure; |
220 | HeightD = 0; |
220 | HeightD = 0; |
221 | Reading_Integral_Top = 0; |
221 | Reading_Integral_Top = 0; |
222 | CompassCourse = CompassHeading; |
222 | CompassCourse = CompassHeading; |
223 | BeepTime = 50; |
223 | BeepTime = 50; |
224 | TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
224 | TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
225 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
225 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
226 | ExternHeightValue = 0; |
226 | ExternHeightValue = 0; |
227 | GPS_Nick = 0; |
227 | GPS_Nick = 0; |
228 | GPS_Roll = 0; |
228 | GPS_Roll = 0; |
229 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
229 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
230 | YawGyroDrift = 0; |
230 | YawGyroDrift = 0; |
231 | MKFlags |= MKFLAG_CALIBRATE; |
231 | MKFlags |= MKFLAG_CALIBRATE; |
232 | } |
232 | } |
233 | 233 | ||
234 | /************************************************************************/ |
234 | /************************************************************************/ |
235 | /* Averaging Measurement Readings */ |
235 | /* Averaging Measurement Readings */ |
236 | /************************************************************************/ |
236 | /************************************************************************/ |
237 | void Mean(void) |
237 | void Mean(void) |
238 | { |
238 | { |
239 | static int32_t tmpl,tmpl2; |
239 | static int32_t tmpl,tmpl2; |
240 | 240 | ||
241 | // Get offset corrected gyro readings (~ to angular velocity) |
241 | // Get offset corrected gyro readings (~ to angular velocity) |
242 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
242 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
243 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
243 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
244 | Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
244 | Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
245 | 245 | ||
246 | // Acceleration Sensor |
246 | // Acceleration Sensor |
247 | // sliding average sensor readings |
247 | // sliding average sensor readings |
248 | Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
248 | Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
249 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
249 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
250 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
250 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
251 | 251 | ||
252 | // sum sensor readings for later averaging |
252 | // sum sensor readings for later averaging |
253 | IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
253 | IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
254 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
254 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
255 | 255 | ||
256 | NaviAccNick += AdValueAccNick; |
256 | NaviAccNick += AdValueAccNick; |
257 | NaviAccRoll += AdValueAccRoll; |
257 | NaviAccRoll += AdValueAccRoll; |
258 | NaviCntAcc++; |
258 | NaviCntAcc++; |
259 | 259 | ||
260 | // Yaw |
260 | // Yaw |
261 | // calculate yaw gyro integral (~ to rotation angle) |
261 | // calculate yaw gyro integral (~ to rotation angle) |
262 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
262 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
263 | YawGyroHeading += Reading_GyroYaw; |
263 | YawGyroHeading += Reading_GyroYaw; |
264 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
264 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
265 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
265 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
266 | 266 | ||
267 | 267 | ||
268 | // Coupling fraction |
268 | // Coupling fraction |
269 | if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
269 | if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
270 | { |
270 | { |
271 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L; |
271 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L; |
272 | tmpl *= FCParam.Yaw_PosFeedback; |
272 | tmpl *= FCParam.Yaw_PosFeedback; |
273 | tmpl /= 4096L; |
273 | tmpl /= 4096L; |
274 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
274 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
275 | tmpl2 *= FCParam.Yaw_PosFeedback; |
275 | tmpl2 *= FCParam.Yaw_PosFeedback; |
276 | tmpl2 /= 4096L; |
276 | tmpl2 /= 4096L; |
277 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
277 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
278 | } |
278 | } |
279 | else tmpl = tmpl2 = 0; |
279 | else tmpl = tmpl2 = 0; |
280 | 280 | ||
281 | // Roll |
281 | // Roll |
282 | Reading_GyroRoll += tmpl; |
282 | Reading_GyroRoll += tmpl; |
283 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
283 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
284 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
284 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
285 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
285 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
286 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
286 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
287 | { |
287 | { |
288 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
288 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
289 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
289 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
290 | } |
290 | } |
291 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
291 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
292 | { |
292 | { |
293 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
293 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
294 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
294 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
295 | } |
295 | } |
296 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
296 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
297 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
297 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
298 | if(BoardRelease == 10) |
298 | if(BoardRelease == 10) |
299 | { |
299 | { |
300 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
300 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
301 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
301 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
302 | } |
302 | } |
303 | else |
303 | else |
304 | { |
304 | { |
305 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
305 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
306 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
306 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
307 | } |
307 | } |
308 | // Nick |
308 | // Nick |
309 | Reading_GyroNick -= tmpl2; |
309 | Reading_GyroNick -= tmpl2; |
310 | Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
310 | Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
311 | Reading_IntegralGyroNick2 += Reading_GyroNick; |
311 | Reading_IntegralGyroNick2 += Reading_GyroNick; |
312 | Reading_IntegralGyroNick += Reading_GyroNick - AttitudeCorrectionNick; |
312 | Reading_IntegralGyroNick += Reading_GyroNick - AttitudeCorrectionNick; |
313 | if(Reading_IntegralGyroNick > TurnOver180Nick) |
313 | if(Reading_IntegralGyroNick > TurnOver180Nick) |
314 | { |
314 | { |
315 | Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L); |
315 | Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L); |
316 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
316 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
317 | } |
317 | } |
318 | if(Reading_IntegralGyroNick < -TurnOver180Nick) |
318 | if(Reading_IntegralGyroNick < -TurnOver180Nick) |
319 | { |
319 | { |
320 | Reading_IntegralGyroNick = (TurnOver180Nick - 25000L); |
320 | Reading_IntegralGyroNick = (TurnOver180Nick - 25000L); |
321 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
321 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
322 | } |
322 | } |
323 | if(AdValueGyrNick < 15) Reading_GyroNick = -1000; |
323 | if(AdValueGyrNick < 15) Reading_GyroNick = -1000; |
324 | if(AdValueGyrNick < 7) Reading_GyroNick = -2000; |
324 | if(AdValueGyrNick < 7) Reading_GyroNick = -2000; |
325 | if(BoardRelease == 10) |
325 | if(BoardRelease == 10) |
326 | { |
326 | { |
327 | if(AdValueGyrNick > 1010) Reading_GyroNick = +1000; |
327 | if(AdValueGyrNick > 1010) Reading_GyroNick = +1000; |
328 | if(AdValueGyrNick > 1017) Reading_GyroNick = +2000; |
328 | if(AdValueGyrNick > 1017) Reading_GyroNick = +2000; |
329 | } |
329 | } |
330 | else |
330 | else |
331 | { |
331 | { |
332 | if(AdValueGyrNick > 2020) Reading_GyroNick = +1000; |
332 | if(AdValueGyrNick > 2020) Reading_GyroNick = +1000; |
333 | if(AdValueGyrNick > 2034) Reading_GyroNick = +2000; |
333 | if(AdValueGyrNick > 2034) Reading_GyroNick = +2000; |
334 | } |
334 | } |
335 | 335 | ||
336 | // start ADC again to capture measurement values for the next loop |
336 | // start ADC again to capture measurement values for the next loop |
337 | ADC_Enable(); |
337 | ADC_Enable(); |
338 | 338 | ||
339 | IntegralYaw = Reading_IntegralGyroYaw; |
339 | IntegralYaw = Reading_IntegralGyroYaw; |
340 | IntegralNick = Reading_IntegralGyroNick; |
340 | IntegralNick = Reading_IntegralGyroNick; |
341 | IntegralRoll = Reading_IntegralGyroRoll; |
341 | IntegralRoll = Reading_IntegralGyroRoll; |
342 | IntegralNick2 = Reading_IntegralGyroNick2; |
342 | IntegralNick2 = Reading_IntegralGyroNick2; |
343 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
343 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
344 | 344 | ||
345 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll) |
345 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll) |
346 | { |
346 | { |
347 | if(Reading_GyroNick > 200) Reading_GyroNick += 4 * (Reading_GyroNick - 200); |
347 | if(Reading_GyroNick > 200) Reading_GyroNick += 4 * (Reading_GyroNick - 200); |
348 | else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200); |
348 | else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200); |
349 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
349 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
350 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
350 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
351 | } |
351 | } |
352 | } |
352 | } |
353 | 353 | ||
354 | /************************************************************************/ |
354 | /************************************************************************/ |
355 | /* Averaging Measurement Readings for Calibration */ |
355 | /* Averaging Measurement Readings for Calibration */ |
356 | /************************************************************************/ |
356 | /************************************************************************/ |
357 | void CalibMean(void) |
357 | void CalibMean(void) |
358 | { |
358 | { |
359 | if(BoardRelease >= 13) SearchGyroOffset(); |
359 | if(BoardRelease >= 13) SearchGyroOffset(); |
360 | // stop ADC to avoid changing values during calculation |
360 | // stop ADC to avoid changing values during calculation |
361 | ADC_Disable(); |
361 | ADC_Disable(); |
362 | 362 | ||
363 | Reading_GyroNick = AdValueGyrNick; |
363 | Reading_GyroNick = AdValueGyrNick; |
364 | Reading_GyroRoll = AdValueGyrRoll; |
364 | Reading_GyroRoll = AdValueGyrRoll; |
365 | Reading_GyroYaw = AdValueGyrYaw; |
365 | Reading_GyroYaw = AdValueGyrYaw; |
366 | 366 | ||
367 | Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
367 | Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
368 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
368 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
369 | Mean_AccTop = (int32_t)AdValueAccTop; |
369 | Mean_AccTop = (int32_t)AdValueAccTop; |
370 | // start ADC (enables internal trigger so that the ISR in analog.c |
370 | // start ADC (enables internal trigger so that the ISR in analog.c |
371 | // updates the readings once) |
371 | // updates the readings once) |
372 | ADC_Enable(); |
372 | ADC_Enable(); |
373 | 373 | ||
374 | TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
374 | TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
375 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
375 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
376 | } |
376 | } |
377 | 377 | ||
378 | /************************************************************************/ |
378 | /************************************************************************/ |
379 | /* Transmit Motor Data via I2C */ |
379 | /* Transmit Motor Data via I2C */ |
380 | /************************************************************************/ |
380 | /************************************************************************/ |
381 | void SendMotorData(void) |
381 | void SendMotorData(void) |
382 | { |
382 | { |
383 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
383 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
384 | { |
384 | { |
385 | Motor_Rear = 0; |
385 | Motor_Rear = 0; |
386 | Motor_Front = 0; |
386 | Motor_Front = 0; |
387 | Motor_Right = 0; |
387 | Motor_Right = 0; |
388 | Motor_Left = 0; |
388 | Motor_Left = 0; |
389 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
389 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
390 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
390 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
391 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
391 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
392 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
392 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
393 | MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
393 | MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
394 | } |
394 | } |
395 | DebugOut.Analog[12] = Motor_Front; |
395 | DebugOut.Analog[12] = Motor_Front; |
396 | DebugOut.Analog[13] = Motor_Rear; |
396 | DebugOut.Analog[13] = Motor_Rear; |
397 | DebugOut.Analog[14] = Motor_Left; |
397 | DebugOut.Analog[14] = Motor_Left; |
398 | DebugOut.Analog[15] = Motor_Right; |
398 | DebugOut.Analog[15] = Motor_Right; |
399 | 399 | ||
400 | //Start I2C Interrupt Mode |
400 | //Start I2C Interrupt Mode |
401 | twi_state = TWI_STATE_MOTOR_TX; |
401 | twi_state = TWI_STATE_MOTOR_TX; |
402 | I2C_Start(); |
402 | I2C_Start(); |
403 | } |
403 | } |
404 | 404 | ||
405 | 405 | ||
406 | 406 | ||
407 | /************************************************************************/ |
407 | /************************************************************************/ |
408 | /* Maps the parameter to poti values */ |
408 | /* Maps the parameter to poti values */ |
409 | /************************************************************************/ |
409 | /************************************************************************/ |
410 | void ParameterMapping(void) |
410 | void ParameterMapping(void) |
411 | { |
411 | { |
412 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
412 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
413 | // else the last updated values are used |
413 | // else the last updated values are used |
414 | { |
414 | { |
415 | //update poti values by rc-signals |
415 | //update poti values by rc-signals |
416 | #define CHK_POTI_MM(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;} |
416 | #define CHK_POTI_MM(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;} |
417 | #define CHK_POTI(b,a) { 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;} |
417 | #define CHK_POTI(b,a) { 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;} |
418 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
418 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
419 | CHK_POTI_MM(FCParam.Height_D,ParamSet.Height_D,0,100); |
419 | CHK_POTI_MM(FCParam.Height_D,ParamSet.Height_D,0,100); |
420 | CHK_POTI_MM(FCParam.Height_P,ParamSet.Height_P,0,100); |
420 | CHK_POTI_MM(FCParam.Height_P,ParamSet.Height_P,0,100); |
421 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
421 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
422 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
422 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
423 | CHK_POTI_MM(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
423 | CHK_POTI_MM(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
424 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I); |
424 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I); |
425 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor); |
425 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor); |
426 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
426 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
427 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
427 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
428 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
428 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
429 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
429 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
430 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
430 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
431 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
431 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
432 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
432 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
433 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
433 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
434 | CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
434 | CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
435 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
435 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
436 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback); |
436 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback); |
437 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback); |
437 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback); |
438 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
438 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
439 | CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
439 | CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
440 | CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
440 | CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
441 | CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
441 | CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
442 | CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
442 | CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
443 | CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
443 | CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
444 | CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
444 | CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
445 | CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
445 | CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
446 | CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
446 | CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
447 | CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
447 | CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
448 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
448 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
449 | } |
449 | } |
450 | } |
450 | } |
451 | 451 | ||
452 | 452 | ||
453 | void SetCompassCalState(void) |
453 | void SetCompassCalState(void) |
454 | { |
454 | { |
455 | static uint8_t stick = 1; |
455 | static uint8_t stick = 1; |
456 | 456 | ||
457 | // if nick is centered or top set stick to zero |
457 | // if nick is centered or top set stick to zero |
458 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
458 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
459 | // if nick is down trigger to next cal state |
459 | // if nick is down trigger to next cal state |
460 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
460 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
461 | { |
461 | { |
462 | stick = 1; |
462 | stick = 1; |
463 | CompassCalState++; |
463 | CompassCalState++; |
464 | if(CompassCalState < 5) Beep(CompassCalState); |
464 | if(CompassCalState < 5) Beep(CompassCalState); |
465 | else BeepTime = 1000; |
465 | else BeepTime = 1000; |
466 | } |
466 | } |
467 | } |
467 | } |
468 | 468 | ||
469 | 469 | ||
470 | 470 | ||
471 | /************************************************************************/ |
471 | /************************************************************************/ |
472 | /* MotorControl */ |
472 | /* MotorControl */ |
473 | /************************************************************************/ |
473 | /************************************************************************/ |
474 | void MotorControl(void) |
474 | void MotorControl(void) |
475 | { |
475 | { |
476 | int16_t MotorValue, pd_result, h, tmp_int; |
476 | int16_t MotorValue, pd_result, h, tmp_int; |
477 | int16_t YawMixFraction, GasMixFraction; |
477 | int16_t YawMixFraction, GasMixFraction; |
478 | static int32_t SumNick = 0, SumRoll = 0; |
478 | static int32_t SumNick = 0, SumRoll = 0; |
479 | static int32_t SetPointYaw = 0; |
479 | static int32_t SetPointYaw = 0; |
480 | static int32_t IntegralErrorNick = 0; |
480 | static int32_t IntegralErrorNick = 0; |
481 | static int32_t IntegralErrorRoll = 0; |
481 | static int32_t IntegralErrorRoll = 0; |
482 | static uint16_t RcLostTimer; |
482 | static uint16_t RcLostTimer; |
483 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
483 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
484 | static uint8_t HeightControlActive = 0; |
484 | static uint8_t HeightControlActive = 0; |
485 | static int16_t HeightControlGas = 0; |
485 | static int16_t HeightControlGas = 0; |
486 | static int8_t TimerDebugOut = 0; |
486 | static int8_t TimerDebugOut = 0; |
487 | static uint16_t UpdateCompassCourse = 0; |
487 | static uint16_t UpdateCompassCourse = 0; |
488 | static int32_t CorrectionNick, CorrectionRoll; |
488 | static int32_t CorrectionNick, CorrectionRoll; |
489 | 489 | ||
490 | Mean(); |
490 | Mean(); |
491 | GRN_ON; |
491 | GRN_ON; |
492 | 492 | ||
493 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
493 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
494 | // determine gas value |
494 | // determine gas value |
495 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
495 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
496 | GasMixFraction = StickGas; |
496 | GasMixFraction = StickGas; |
497 | if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10; |
497 | if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10; |
498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
499 | // RC-signal is bad |
499 | // RC-signal is bad |
500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
501 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
501 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
502 | { |
502 | { |
503 | if(!PcAccess) // if also no PC-Access via UART |
503 | if(!PcAccess) // if also no PC-Access via UART |
504 | { |
504 | { |
505 | if(BeepModulation == 0xFFFF) |
505 | if(BeepModulation == 0xFFFF) |
506 | { |
506 | { |
507 | BeepTime = 15000; // 1.5 seconds |
507 | BeepTime = 15000; // 1.5 seconds |
508 | BeepModulation = 0x0C00; |
508 | BeepModulation = 0x0C00; |
509 | } |
509 | } |
510 | } |
510 | } |
511 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
511 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
512 | else // rc lost countdown finished |
512 | else // rc lost countdown finished |
513 | { |
513 | { |
514 | MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
514 | MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
515 | } |
515 | } |
516 | RED_ON; // set red led |
516 | RED_ON; // set red led |
517 | if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
517 | if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
518 | { |
518 | { |
519 | GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
519 | GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
520 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
520 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
521 | // set neutral rc inputs |
521 | // set neutral rc inputs |
522 | PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
522 | PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
523 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
523 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
524 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
524 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
525 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
525 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
526 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
526 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
527 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
527 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
528 | } |
528 | } |
529 | else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
529 | else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
530 | } // eof RC_Quality < 120 |
530 | } // eof RC_Quality < 120 |
531 | else |
531 | else |
532 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
532 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
533 | // RC-signal is good |
533 | // RC-signal is good |
534 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
534 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
535 | if(RC_Quality > 140) |
535 | if(RC_Quality > 140) |
536 | { |
536 | { |
537 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
537 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
538 | // reset emergency timer |
538 | // reset emergency timer |
539 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
539 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
540 | if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
540 | if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
541 | { |
541 | { |
542 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
542 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
543 | } |
543 | } |
544 | if(Model_Is_Flying < 256) |
544 | if(Model_Is_Flying < 256) |
545 | { |
545 | { |
546 | SumNick = 0; |
546 | SumNick = 0; |
547 | SumRoll = 0; |
547 | SumRoll = 0; |
548 | StickYaw = 0; |
548 | StickYaw = 0; |
549 | if(Model_Is_Flying == 250) |
549 | if(Model_Is_Flying == 250) |
550 | { |
550 | { |
551 | UpdateCompassCourse = 1; |
551 | UpdateCompassCourse = 1; |
552 | Reading_IntegralGyroYaw = 0; |
552 | Reading_IntegralGyroYaw = 0; |
553 | SetPointYaw = 0; |
553 | SetPointYaw = 0; |
554 | } |
554 | } |
555 | } |
555 | } |
556 | else MKFlags |= (MKFLAG_FLY); // set fly flag |
556 | else MKFlags |= (MKFLAG_FLY); // set fly flag |
557 | 557 | ||
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(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
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(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
561 | 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--; |
562 | //PPM24-Extension |
562 | //PPM24-Extension |
563 | 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--; |
564 | 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--; |
565 | 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--; |
566 | 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--; |
567 | //limit poti values |
567 | //limit poti values |
568 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
568 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
569 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
569 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
570 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
570 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
571 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
571 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
572 | //PPM24-Extension |
572 | //PPM24-Extension |
573 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
573 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
574 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
574 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
575 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
575 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
576 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
576 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
577 | 577 | ||
578 | // if motors are off and the gas stick is in the upper position |
578 | // if motors are off and the gas stick is in the upper position |
579 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
579 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
580 | { |
580 | { |
581 | // and if the yaw stick is in the leftmost position |
581 | // and if the yaw stick is in the leftmost position |
582 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
582 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
583 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
583 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
584 | // calibrate the neutral readings of all attitude sensors |
584 | // calibrate the neutral readings of all attitude sensors |
585 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
585 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
586 | { |
586 | { |
587 | // gas/yaw joystick is top left |
587 | // gas/yaw joystick is top left |
588 | // _________ |
588 | // _________ |
589 | // |x | |
589 | // |x | |
590 | // | | |
590 | // | | |
591 | // | | |
591 | // | | |
592 | // | | |
592 | // | | |
593 | // | | |
593 | // | | |
594 | // ¯¯¯¯¯¯¯¯¯ |
594 | // ¯¯¯¯¯¯¯¯¯ |
595 | 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) |
596 | { |
596 | { |
597 | delay_neutral = 0; |
597 | delay_neutral = 0; |
598 | GRN_OFF; |
598 | GRN_OFF; |
599 | Model_Is_Flying = 0; |
599 | Model_Is_Flying = 0; |
600 | // check roll/nick stick position |
600 | // check roll/nick stick position |
601 | // if nick stick is top or roll stick is left or right --> change parameter setting |
601 | // if nick stick is top or roll stick is left or right --> change parameter setting |
602 | // according to roll/nick stick position |
602 | // according to roll/nick stick position |
603 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
603 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
604 | { |
604 | { |
605 | uint8_t setting = 1; // default |
605 | uint8_t setting = 1; // default |
606 | // nick/roll joystick |
606 | // nick/roll joystick |
607 | // _________ |
607 | // _________ |
608 | // |2 3 4| |
608 | // |2 3 4| |
609 | // | | |
609 | // | | |
610 | // |1 5| |
610 | // |1 5| |
611 | // | | |
611 | // | | |
612 | // | | |
612 | // | | |
613 | // ¯¯¯¯¯¯¯¯¯ |
613 | // ¯¯¯¯¯¯¯¯¯ |
614 | // roll stick leftmost and nick stick centered --> setting 1 |
614 | // roll stick leftmost and nick stick centered --> setting 1 |
615 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
615 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
616 | // roll stick leftmost and nick stick topmost --> setting 2 |
616 | // roll stick leftmost and nick stick topmost --> setting 2 |
617 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
617 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
618 | // roll stick centered an nick stick topmost --> setting 3 |
618 | // roll stick centered an nick stick topmost --> setting 3 |
619 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
619 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
620 | // roll stick rightmost and nick stick topmost --> setting 4 |
620 | // roll stick rightmost and nick stick topmost --> setting 4 |
621 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
621 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
622 | // roll stick rightmost and nick stick centered --> setting 5 |
622 | // roll stick rightmost and nick stick centered --> setting 5 |
623 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
623 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
624 | // update active parameter set in eeprom |
624 | // update active parameter set in eeprom |
625 | SetActiveParamSet(setting); |
625 | SetActiveParamSet(setting); |
626 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
626 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
627 | SetNeutral(); |
627 | SetNeutral(); |
628 | Beep(GetActiveParamSet()); |
628 | Beep(GetActiveParamSet()); |
629 | } |
629 | } |
630 | else |
630 | else |
631 | { |
631 | { |
632 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
632 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
633 | { |
633 | { |
634 | // if roll stick is centered and nick stick is down |
634 | // if roll stick is centered and nick stick is down |
635 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
635 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
636 | { |
636 | { |
637 | // nick/roll joystick |
637 | // nick/roll joystick |
638 | // _________ |
638 | // _________ |
639 | // | | |
639 | // | | |
640 | // | | |
640 | // | | |
641 | // | | |
641 | // | | |
642 | // | | |
642 | // | | |
643 | // | x | |
643 | // | x | |
644 | // ¯¯¯¯¯¯¯¯¯ |
644 | // ¯¯¯¯¯¯¯¯¯ |
645 | // enable calibration state of compass |
645 | // enable calibration state of compass |
646 | CompassCalState = 1; |
646 | CompassCalState = 1; |
647 | BeepTime = 1000; |
647 | BeepTime = 1000; |
648 | } |
648 | } |
649 | else // nick and roll are centered |
649 | else // nick and roll are centered |
650 | { |
650 | { |
651 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
651 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
652 | SetNeutral(); |
652 | SetNeutral(); |
653 | Beep(GetActiveParamSet()); |
653 | Beep(GetActiveParamSet()); |
654 | } |
654 | } |
655 | } |
655 | } |
656 | else // nick and roll are centered |
656 | else // nick and roll are centered |
657 | { |
657 | { |
658 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
658 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
659 | SetNeutral(); |
659 | SetNeutral(); |
660 | Beep(GetActiveParamSet()); |
660 | Beep(GetActiveParamSet()); |
661 | } |
661 | } |
662 | } |
662 | } |
663 | } |
663 | } |
664 | } |
664 | } |
665 | // and if the yaw stick is in the rightmost position |
665 | // and if the yaw stick is in the rightmost position |
666 | // save the ACC neutral setting to eeprom |
666 | // save the ACC neutral setting to eeprom |
667 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
667 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
668 | { |
668 | { |
669 | 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) |
670 | { |
670 | { |
671 | delay_neutral = 0; |
671 | delay_neutral = 0; |
672 | GRN_OFF; |
672 | GRN_OFF; |
673 | SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid |
673 | SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid |
674 | Model_Is_Flying = 0; |
674 | Model_Is_Flying = 0; |
675 | SetNeutral(); |
675 | SetNeutral(); |
676 | // Save ACC neutral settings to eeprom |
676 | // Save ACC neutral settings to eeprom |
677 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
677 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
678 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
678 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
679 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
679 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
680 | Beep(GetActiveParamSet()); |
680 | Beep(GetActiveParamSet()); |
681 | } |
681 | } |
682 | } |
682 | } |
683 | else delay_neutral = 0; |
683 | else delay_neutral = 0; |
684 | } |
684 | } |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | // gas stick is down |
686 | // gas stick is down |
687 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
688 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
688 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
689 | { |
689 | { |
690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
691 | // and yaw stick is rightmost --> start motors |
691 | // and yaw stick is rightmost --> start motors |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
693 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
694 | { |
694 | { |
695 | 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) |
696 | { |
696 | { |
697 | delay_startmotors = 200; // do not repeat if once executed |
697 | delay_startmotors = 200; // do not repeat if once executed |
698 | Model_Is_Flying = 1; |
698 | Model_Is_Flying = 1; |
699 | MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
699 | MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
700 | SetPointYaw = 0; |
700 | SetPointYaw = 0; |
701 | Reading_IntegralGyroYaw = 0; |
701 | Reading_IntegralGyroYaw = 0; |
702 | Reading_IntegralGyroNick = 0; |
702 | Reading_IntegralGyroNick = 0; |
703 | Reading_IntegralGyroRoll = 0; |
703 | Reading_IntegralGyroRoll = 0; |
704 | Reading_IntegralGyroNick2 = IntegralNick; |
704 | Reading_IntegralGyroNick2 = IntegralNick; |
705 | Reading_IntegralGyroRoll2 = IntegralRoll; |
705 | Reading_IntegralGyroRoll2 = IntegralRoll; |
706 | SumNick = 0; |
706 | SumNick = 0; |
707 | SumRoll = 0; |
707 | SumRoll = 0; |
708 | } |
708 | } |
709 | } |
709 | } |
710 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
710 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
712 | // and yaw stick is leftmost --> stop motors |
712 | // and yaw stick is leftmost --> stop motors |
713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
714 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
714 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
715 | { |
715 | { |
716 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
716 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
717 | { |
717 | { |
718 | delay_stopmotors = 200; // do not repeat if once executed |
718 | delay_stopmotors = 200; // do not repeat if once executed |
719 | Model_Is_Flying = 0; |
719 | Model_Is_Flying = 0; |
720 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
720 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
721 | } |
721 | } |
722 | } |
722 | } |
723 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
723 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
724 | } |
724 | } |
725 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
725 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
726 | } // eof RC_Quality > 150 |
726 | } // eof RC_Quality > 150 |
727 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
727 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
728 | // new values from RC |
728 | // new values from RC |
729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
730 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
730 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
731 | { |
731 | { |
732 | int tmp_int; |
732 | int tmp_int; |
733 | ParameterMapping(); // remapping params (online poti replacement) |
733 | ParameterMapping(); // remapping params (online poti replacement) |
734 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
734 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
735 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
735 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
736 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
736 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
737 | StickNick -= (GPS_Nick); |
737 | StickNick -= (GPS_Nick); |
738 | 738 | ||
739 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
739 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
740 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
740 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
741 | StickRoll -= (GPS_Roll); |
741 | StickRoll -= (GPS_Roll); |
742 | 742 | ||
743 | // direct mapping of yaw and gas |
743 | // direct mapping of yaw and gas |
744 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
744 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
745 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
745 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
746 | 746 | ||
747 | // update gyro control loop factors |
747 | // update gyro control loop factors |
748 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
748 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
749 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
749 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
750 | 750 | ||
751 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
751 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
752 | // Digital Control via DubWise |
752 | // Digital Control via DubWise |
753 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
753 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
754 | 754 | ||
755 | #define KEY_VALUE (FCParam.ExternalControl * 4) // step width |
755 | #define KEY_VALUE (FCParam.ExternalControl * 4) // step width |
756 | if(DubWiseKeys[1]) BeepTime = 10; |
756 | if(DubWiseKeys[1]) BeepTime = 10; |
757 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
757 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
758 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
758 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
759 | else tmp_int = 0; |
759 | else tmp_int = 0; |
760 | ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
760 | ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
761 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
761 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
762 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
762 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
763 | else tmp_int = 0; |
763 | else tmp_int = 0; |
764 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
764 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
765 | 765 | ||
766 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
766 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
767 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
767 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
768 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
768 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
769 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
769 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
770 | 770 | ||
771 | StickNick += (STICK_GAIN * ExternStickNick) / 8; |
771 | StickNick += (STICK_GAIN * ExternStickNick) / 8; |
772 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
772 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
773 | StickYaw += (STICK_GAIN * ExternStickYaw); |
773 | StickYaw += (STICK_GAIN * ExternStickYaw); |
774 | 774 | ||
775 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
775 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
776 | //+ Analog control via serial communication |
776 | //+ Analog control via serial communication |
777 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
777 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
778 | 778 | ||
779 | if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
779 | if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
780 | { |
780 | { |
781 | StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.Stick_P; |
781 | StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.Stick_P; |
782 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
782 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
783 | StickYaw += ExternControl.Yaw; |
783 | StickYaw += ExternControl.Yaw; |
784 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
784 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
785 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
785 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
786 | } |
786 | } |
787 | if(StickGas < 0) StickGas = 0; |
787 | if(StickGas < 0) StickGas = 0; |
788 | 788 | ||
789 | // disable I part of gyro control feedback |
789 | // disable I part of gyro control feedback |
790 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
790 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
791 | // avoid negative scaling factors |
791 | // avoid negative scaling factors |
792 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
792 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
793 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
793 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
794 | 794 | ||
795 | 795 | ||
796 | // update max stick positions for nick and roll |
796 | // update max stick positions for nick and roll |
797 | 797 | ||
798 | if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
798 | if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
799 | { |
799 | { |
800 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
800 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
801 | if(MaxStickNick > 100) MaxStickNick = 100; |
801 | if(MaxStickNick > 100) MaxStickNick = 100; |
802 | } |
802 | } |
803 | else MaxStickNick--; |
803 | else MaxStickNick--; |
804 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
804 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
805 | { |
805 | { |
806 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
806 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
807 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
807 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
808 | } |
808 | } |
809 | else MaxStickRoll--; |
809 | else MaxStickRoll--; |
810 | 810 | ||
811 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
811 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
812 | // Looping? |
812 | // Looping? |
813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
814 | 814 | ||
815 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
815 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
816 | else |
816 | else |
817 | { |
817 | { |
818 | if(Looping_Left) // Hysteresis |
818 | if(Looping_Left) // Hysteresis |
819 | { |
819 | { |
820 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
820 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
821 | } |
821 | } |
822 | } |
822 | } |
823 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
823 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
824 | else |
824 | else |
825 | { |
825 | { |
826 | if(Looping_Right) // Hysteresis |
826 | if(Looping_Right) // Hysteresis |
827 | { |
827 | { |
828 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
828 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
829 | } |
829 | } |
830 | } |
830 | } |
831 | 831 | ||
832 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
832 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
833 | else |
833 | else |
834 | { |
834 | { |
835 | if(Looping_Top) // Hysteresis |
835 | if(Looping_Top) // Hysteresis |
836 | { |
836 | { |
837 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
837 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
838 | } |
838 | } |
839 | } |
839 | } |
840 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
840 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
841 | else |
841 | else |
842 | { |
842 | { |
843 | if(Looping_Down) // Hysteresis |
843 | if(Looping_Down) // Hysteresis |
844 | { |
844 | { |
845 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
845 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
846 | } |
846 | } |
847 | } |
847 | } |
848 | 848 | ||
849 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
849 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
850 | if(Looping_Top || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0; |
850 | if(Looping_Top || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0; |
851 | } // End of new RC-Values or Emergency Landing |
851 | } // End of new RC-Values or Emergency Landing |
852 | 852 | ||
853 | 853 | ||
854 | if(Looping_Roll || Looping_Nick) |
854 | if(Looping_Roll || Looping_Nick) |
855 | { |
855 | { |
856 | if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
856 | if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
857 | } |
857 | } |
858 | 858 | ||
859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
860 | // in case of emergency landing |
860 | // in case of emergency landing |
861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
862 | // set all inputs to save values |
862 | // set all inputs to save values |
863 | if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
863 | if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
864 | { |
864 | { |
865 | StickYaw = 0; |
865 | StickYaw = 0; |
866 | StickNick = 0; |
866 | StickNick = 0; |
867 | StickRoll = 0; |
867 | StickRoll = 0; |
868 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
868 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
869 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
869 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
870 | Looping_Roll = 0; |
870 | Looping_Roll = 0; |
871 | Looping_Nick = 0; |
871 | Looping_Nick = 0; |
872 | MaxStickNick = 0; |
872 | MaxStickNick = 0; |
873 | MaxStickRoll = 0; |
873 | MaxStickRoll = 0; |
874 | } |
874 | } |
875 | 875 | ||
876 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
876 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
877 | // Trim Gyro-Integrals to ACC-Signals |
877 | // Trim Gyro-Integrals to ACC-Signals |
878 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
878 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
879 | 879 | ||
880 | #define BALANCE_NUMBER 256L |
880 | #define BALANCE_NUMBER 256L |
881 | // sum for averaging |
881 | // sum for averaging |
882 | MeanIntegralNick += IntegralNick; |
882 | MeanIntegralNick += IntegralNick; |
883 | MeanIntegralRoll += IntegralRoll; |
883 | MeanIntegralRoll += IntegralRoll; |
884 | 884 | ||
885 | if(Looping_Nick || Looping_Roll) // if looping in any direction |
885 | if(Looping_Nick || Looping_Roll) // if looping in any direction |
886 | { |
886 | { |
887 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
887 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
888 | MeasurementCounter = 0; |
888 | MeasurementCounter = 0; |
889 | 889 | ||
890 | IntegralAccNick = 0; |
890 | IntegralAccNick = 0; |
891 | IntegralAccRoll = 0; |
891 | IntegralAccRoll = 0; |
892 | 892 | ||
893 | MeanIntegralNick = 0; |
893 | MeanIntegralNick = 0; |
894 | MeanIntegralRoll = 0; |
894 | MeanIntegralRoll = 0; |
895 | 895 | ||
896 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
896 | Reading_IntegralGyroNick2 = Reading_IntegralGyroNick; |
897 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
897 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
898 | 898 | ||
899 | AttitudeCorrectionNick = 0; |
899 | AttitudeCorrectionNick = 0; |
900 | AttitudeCorrectionRoll = 0; |
900 | AttitudeCorrectionRoll = 0; |
901 | } |
901 | } |
902 | 902 | ||
903 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
903 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
904 | if(!Looping_Nick && !Looping_Roll) // if not lopping in any direction |
904 | if(!Looping_Nick && !Looping_Roll) // if not lopping in any direction |
905 | { |
905 | { |
906 | int32_t tmp_long, tmp_long2; |
906 | int32_t tmp_long, tmp_long2; |
907 | // determine the deviation of gyro integral from averaged acceleration sensor |
907 | // determine the deviation of gyro integral from averaged acceleration sensor |
908 | tmp_long = (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick); |
908 | tmp_long = (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick); |
909 | tmp_long /= 16; |
909 | tmp_long /= 16; |
910 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
910 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
911 | tmp_long2 /= 16; |
911 | tmp_long2 /= 16; |
912 | 912 | ||
913 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
913 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
914 | { |
914 | { |
915 | tmp_long /= 3; |
915 | tmp_long /= 3; |
916 | tmp_long2 /= 3; |
916 | tmp_long2 /= 3; |
917 | } |
917 | } |
918 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
918 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
919 | { |
919 | { |
920 | tmp_long /= 3; |
920 | tmp_long /= 3; |
921 | tmp_long2 /= 3; |
921 | tmp_long2 /= 3; |
922 | } |
922 | } |
923 | 923 | ||
924 | #define BALANCE 32 |
924 | #define BALANCE 32 |
925 | // limit correction effect |
925 | // limit correction effect |
926 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
926 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
927 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
927 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
928 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
928 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
929 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
929 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
930 | // correct current readings |
930 | // correct current readings |
931 | Reading_IntegralGyroNick -= tmp_long; |
931 | Reading_IntegralGyroNick -= tmp_long; |
932 | Reading_IntegralGyroRoll -= tmp_long2; |
932 | Reading_IntegralGyroRoll -= tmp_long2; |
933 | } |
933 | } |
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
935 | // MeasurementCounter is incremented in the isr of analog.c |
935 | // MeasurementCounter is incremented in the isr of analog.c |
936 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
936 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
937 | { |
937 | { |
938 | static int16_t cnt = 0; |
938 | static int16_t cnt = 0; |
939 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
939 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
940 | static int32_t MeanIntegralNick_old, MeanIntegralRoll_old; |
940 | static int32_t MeanIntegralNick_old, MeanIntegralRoll_old; |
941 | 941 | ||
942 | // if not lopping in any direction (this should be alwais the case, |
942 | // if not lopping in any direction (this should be alwais the case, |
943 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
943 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
944 | if(!Looping_Nick && !Looping_Roll && !FunnelCourse) |
944 | if(!Looping_Nick && !Looping_Roll && !FunnelCourse) |
945 | { |
945 | { |
946 | // Calculate mean value of the gyro integrals |
946 | // Calculate mean value of the gyro integrals |
947 | MeanIntegralNick /= BALANCE_NUMBER; |
947 | MeanIntegralNick /= BALANCE_NUMBER; |
948 | MeanIntegralRoll /= BALANCE_NUMBER; |
948 | MeanIntegralRoll /= BALANCE_NUMBER; |
949 | 949 | ||
950 | // Calculate mean of the acceleration values |
950 | // Calculate mean of the acceleration values |
951 | IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER; |
951 | IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER; |
952 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
952 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
953 | 953 | ||
954 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
954 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
955 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
955 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
956 | IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick); |
956 | IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick); |
957 | CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim; |
957 | CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim; |
958 | AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
958 | AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
959 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
959 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
960 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
960 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
961 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
961 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
962 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
962 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
963 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
963 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
964 | 964 | ||
965 | if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
965 | if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
966 | { |
966 | { |
967 | AttitudeCorrectionNick /= 2; |
967 | AttitudeCorrectionNick /= 2; |
968 | AttitudeCorrectionRoll /= 2; |
968 | AttitudeCorrectionRoll /= 2; |
969 | } |
969 | } |
970 | 970 | ||
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | // Gyro-Drift ermitteln |
972 | // Gyro-Drift ermitteln |
973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
974 | // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
974 | // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
975 | IntegralErrorNick = IntegralNick2 - IntegralNick; |
975 | IntegralErrorNick = IntegralNick2 - IntegralNick; |
976 | Reading_IntegralGyroNick2 -= IntegralErrorNick; |
976 | Reading_IntegralGyroNick2 -= IntegralErrorNick; |
977 | // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
977 | // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor) |
978 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
978 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
979 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
979 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
980 | 980 | ||
981 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
981 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
982 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
982 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
983 | YawGyroDrift = 0; |
983 | YawGyroDrift = 0; |
984 | /* |
984 | /* |
985 | DebugOut.Analog[17] = IntegralAccNick / 26; |
985 | DebugOut.Analog[17] = IntegralAccNick / 26; |
986 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
986 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
987 | DebugOut.Analog[19] = IntegralErrorNick;// / 26; |
987 | DebugOut.Analog[19] = IntegralErrorNick;// / 26; |
988 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
988 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
989 | DebugOut.Analog[21] = MeanIntegralNick / 26; |
989 | DebugOut.Analog[21] = MeanIntegralNick / 26; |
990 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
990 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
991 | //DebugOut.Analog[28] = CorrectionNick; |
991 | //DebugOut.Analog[28] = CorrectionNick; |
992 | DebugOut.Analog[29] = CorrectionRoll; |
992 | DebugOut.Analog[29] = CorrectionRoll; |
993 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
993 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
994 | */ |
994 | */ |
995 | 995 | ||
996 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
996 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
997 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
997 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
998 | #define MOVEMENT_LIMIT 20000 |
998 | #define MOVEMENT_LIMIT 20000 |
999 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
999 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1000 | cnt = 1;// + labs(IntegralErrorNick) / 4096; |
1000 | cnt = 1;// + labs(IntegralErrorNick) / 4096; |
1001 | CorrectionNick = 0; |
1001 | CorrectionNick = 0; |
1002 | if(labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT) |
1002 | if(labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT) |
1003 | { |
1003 | { |
1004 | if(IntegralErrorNick > ERROR_LIMIT2) |
1004 | if(IntegralErrorNick > ERROR_LIMIT2) |
1005 | { |
1005 | { |
1006 | if(last_n_p) |
1006 | if(last_n_p) |
1007 | { |
1007 | { |
1008 | cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
1008 | cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
1009 | CorrectionNick = IntegralErrorNick / 8; |
1009 | CorrectionNick = IntegralErrorNick / 8; |
1010 | if(CorrectionNick > 5000) CorrectionNick = 5000; |
1010 | if(CorrectionNick > 5000) CorrectionNick = 5000; |
1011 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1011 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1012 | } |
1012 | } |
1013 | else last_n_p = 1; |
1013 | else last_n_p = 1; |
1014 | } |
1014 | } |
1015 | else last_n_p = 0; |
1015 | else last_n_p = 0; |
1016 | if(IntegralErrorNick < -ERROR_LIMIT2) |
1016 | if(IntegralErrorNick < -ERROR_LIMIT2) |
1017 | { |
1017 | { |
1018 | if(last_n_n) |
1018 | if(last_n_n) |
1019 | { |
1019 | { |
1020 | cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
1020 | cnt += labs(IntegralErrorNick) / ERROR_LIMIT2; |
1021 | CorrectionNick = IntegralErrorNick / 8; |
1021 | CorrectionNick = IntegralErrorNick / 8; |
1022 | if(CorrectionNick < -5000) CorrectionNick = -5000; |
1022 | if(CorrectionNick < -5000) CorrectionNick = -5000; |
1023 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1023 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1024 | } |
1024 | } |
1025 | else last_n_n = 1; |
1025 | else last_n_n = 1; |
1026 | } |
1026 | } |
1027 | else last_n_n = 0; |
1027 | else last_n_n = 0; |
1028 | } |
1028 | } |
1029 | else |
1029 | else |
1030 | { |
1030 | { |
1031 | cnt = 0; |
1031 | cnt = 0; |
1032 | BadCompassHeading = 1000; |
1032 | BadCompassHeading = 1000; |
1033 | } |
1033 | } |
1034 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1034 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1035 | // correct Gyro Offsets |
1035 | // correct Gyro Offsets |
1036 | if(IntegralErrorNick > ERROR_LIMIT) AdNeutralNick += cnt; |
1036 | if(IntegralErrorNick > ERROR_LIMIT) AdNeutralNick += cnt; |
1037 | if(IntegralErrorNick < -ERROR_LIMIT) AdNeutralNick -= cnt; |
1037 | if(IntegralErrorNick < -ERROR_LIMIT) AdNeutralNick -= cnt; |
1038 | 1038 | ||
1039 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1039 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1040 | cnt = 1;// + labs(IntegralErrorNick) / 4096; |
1040 | cnt = 1;// + labs(IntegralErrorNick) / 4096; |
1041 | CorrectionRoll = 0; |
1041 | CorrectionRoll = 0; |
1042 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
1042 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
1043 | { |
1043 | { |
1044 | if(IntegralErrorRoll > ERROR_LIMIT2) |
1044 | if(IntegralErrorRoll > ERROR_LIMIT2) |
1045 | { |
1045 | { |
1046 | if(last_r_p) |
1046 | if(last_r_p) |
1047 | { |
1047 | { |
1048 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1048 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1049 | CorrectionRoll = IntegralErrorRoll / 8; |
1049 | CorrectionRoll = IntegralErrorRoll / 8; |
1050 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1050 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1051 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1051 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1052 | } |
1052 | } |
1053 | else last_r_p = 1; |
1053 | else last_r_p = 1; |
1054 | } |
1054 | } |
1055 | else last_r_p = 0; |
1055 | else last_r_p = 0; |
1056 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
1056 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
1057 | { |
1057 | { |
1058 | if(last_r_n) |
1058 | if(last_r_n) |
1059 | { |
1059 | { |
1060 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1060 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
1061 | CorrectionRoll = IntegralErrorRoll / 8; |
1061 | CorrectionRoll = IntegralErrorRoll / 8; |
1062 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1062 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1063 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1063 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1064 | } |
1064 | } |
1065 | else last_r_n = 1; |
1065 | else last_r_n = 1; |
1066 | } |
1066 | } |
1067 | else last_r_n = 0; |
1067 | else last_r_n = 0; |
1068 | } |
1068 | } |
1069 | else |
1069 | else |
1070 | { |
1070 | { |
1071 | cnt = 0; |
1071 | cnt = 0; |
1072 | BadCompassHeading = 1000; |
1072 | BadCompassHeading = 1000; |
1073 | } |
1073 | } |
1074 | // correct Gyro Offsets |
1074 | // correct Gyro Offsets |
1075 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1075 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1076 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
1076 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
1077 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
1077 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
1078 | /* |
1078 | /* |
1079 | DebugOut.Analog[27] = CorrectionRoll; |
1079 | DebugOut.Analog[27] = CorrectionRoll; |
1080 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
1080 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
1081 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
1081 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
1082 | */ |
1082 | */ |
1083 | } |
1083 | } |
1084 | else // looping is active |
1084 | else // looping is active |
1085 | { |
1085 | { |
1086 | AttitudeCorrectionRoll = 0; |
1086 | AttitudeCorrectionRoll = 0; |
1087 | AttitudeCorrectionNick = 0; |
1087 | AttitudeCorrectionNick = 0; |
1088 | FunnelCourse = 0; |
1088 | FunnelCourse = 0; |
1089 | } |
1089 | } |
1090 | 1090 | ||
1091 | // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
1091 | // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
1092 | if(!Gyro_I_Factor) |
1092 | if(!Gyro_I_Factor) |
1093 | { |
1093 | { |
1094 | AttitudeCorrectionRoll = 0; |
1094 | AttitudeCorrectionRoll = 0; |
1095 | AttitudeCorrectionNick = 0; |
1095 | AttitudeCorrectionNick = 0; |
1096 | } |
1096 | } |
1097 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1097 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1098 | MeanIntegralNick_old = MeanIntegralNick; |
1098 | MeanIntegralNick_old = MeanIntegralNick; |
1099 | MeanIntegralRoll_old = MeanIntegralRoll; |
1099 | MeanIntegralRoll_old = MeanIntegralRoll; |
1100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1101 | // reset variables used for averaging |
1101 | // reset variables used for averaging |
1102 | IntegralAccNick = 0; |
1102 | IntegralAccNick = 0; |
1103 | IntegralAccRoll = 0; |
1103 | IntegralAccRoll = 0; |
1104 | MeanIntegralNick = 0; |
1104 | MeanIntegralNick = 0; |
1105 | MeanIntegralRoll = 0; |
1105 | MeanIntegralRoll = 0; |
1106 | MeasurementCounter = 0; |
1106 | MeasurementCounter = 0; |
1107 | } // end of averaging |
1107 | } // end of averaging |
1108 | 1108 | ||
1109 | 1109 | ||
1110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1111 | // Yawing |
1111 | // Yawing |
1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1113 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
1113 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
1114 | { |
1114 | { |
1115 | BadCompassHeading = 1000; |
1115 | BadCompassHeading = 1000; |
1116 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1116 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1117 | { |
1117 | { |
1118 | UpdateCompassCourse = 1; |
1118 | UpdateCompassCourse = 1; |
1119 | } |
1119 | } |
1120 | } |
1120 | } |
1121 | // exponential stick sensitivity in yawring rate |
1121 | // exponential stick sensitivity in yawring rate |
1122 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1122 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1123 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1123 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1124 | SetPointYaw = tmp_int; |
1124 | SetPointYaw = tmp_int; |
1125 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
1125 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
1126 | Reading_IntegralGyroYaw -= tmp_int; |
1126 | Reading_IntegralGyroYaw -= tmp_int; |
1127 | // limit the effect |
1127 | // limit the effect |
1128 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1128 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1129 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1129 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1130 | 1130 | ||
1131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1132 | // Compass |
1132 | // Compass |
1133 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1133 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1134 | // compass code is used if Compass option is selected |
1134 | // compass code is used if Compass option is selected |
1135 | if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
1135 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
1136 | { |
1136 | { |
1137 | int16_t w, v, r,correction, error; |
1137 | int16_t w, v, r,correction, error; |
1138 | 1138 | ||
1139 | if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
1139 | if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
1140 | { |
1140 | { |
1141 | SetCompassCalState(); |
1141 | SetCompassCalState(); |
1142 | #ifdef USE_KILLAGREG |
1142 | #ifdef USE_KILLAGREG |
1143 | MM3_Calibrate(); |
1143 | MM3_Calibrate(); |
1144 | #endif |
1144 | #endif |
1145 | } |
1145 | } |
1146 | else |
1146 | else |
1147 | { |
1147 | { |
1148 | #ifdef USE_KILLAGREG |
1148 | #ifdef USE_KILLAGREG |
1149 | static uint8_t updCompass = 0; |
1149 | static uint8_t updCompass = 0; |
1150 | if (!updCompass--) |
1150 | if (!updCompass--) |
1151 | { |
1151 | { |
1152 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1152 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1153 | MM3_Heading(); |
1153 | MM3_Heading(); |
1154 | } |
1154 | } |
1155 | #endif |
1155 | #endif |
1156 | 1156 | ||
1157 | // get maximum attitude angle |
1157 | // get maximum attitude angle |
1158 | w = abs(IntegralNick / 512); |
1158 | w = abs(IntegralNick / 512); |
1159 | v = abs(IntegralRoll / 512); |
1159 | v = abs(IntegralRoll / 512); |
1160 | if(v > w) w = v; |
1160 | if(v > w) w = v; |
1161 | correction = w / 8 + 1; |
1161 | correction = w / 8 + 1; |
1162 | // calculate the deviation of the yaw gyro heading and the compass heading |
1162 | // calculate the deviation of the yaw gyro heading and the compass heading |
1163 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
1163 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
1164 | else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
1164 | else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
1165 | 1165 | ||
1166 | if(!BadCompassHeading && w < 25) |
1166 | if(!BadCompassHeading && w < 25) |
1167 | { |
1167 | { |
1168 | YawGyroDrift += error; |
1168 | YawGyroDrift += error; |
1169 | if(UpdateCompassCourse) |
1169 | if(UpdateCompassCourse) |
1170 | { |
1170 | { |
1171 | BeepTime = 200; |
1171 | BeepTime = 200; |
1172 | CompassCourse = (YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
1172 | CompassCourse = (YawGyroHeading / YAW_GYRO_DEG_FACTOR); |
1173 | UpdateCompassCourse = 0; |
1173 | UpdateCompassCourse = 0; |
1174 | } |
1174 | } |
1175 | } |
1175 | } |
1176 | YawGyroHeading += (error * 8) / correction; |
1176 | YawGyroHeading += (error * 8) / correction; |
1177 | w = (w * FCParam.CompassYawEffect) / 32; |
1177 | w = (w * FCParam.CompassYawEffect) / 32; |
1178 | w = FCParam.CompassYawEffect - w; |
1178 | w = FCParam.CompassYawEffect - w; |
1179 | if(w >= 0) |
1179 | if(w >= 0) |
1180 | { |
1180 | { |
1181 | if(!BadCompassHeading) |
1181 | if(!BadCompassHeading) |
1182 | { |
1182 | { |
1183 | v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
1183 | v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
1184 | // calc course deviation |
1184 | // calc course deviation |
1185 | r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
1185 | r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
1186 | v = (r * w) / v; // align to compass course |
1186 | v = (r * w) / v; // align to compass course |
1187 | // limit yaw rate |
1187 | // limit yaw rate |
1188 | w = 3 * FCParam.CompassYawEffect; |
1188 | w = 3 * FCParam.CompassYawEffect; |
1189 | if (v > w) v = w; |
1189 | if (v > w) v = w; |
1190 | else if (v < -w) v = -w; |
1190 | else if (v < -w) v = -w; |
1191 | Reading_IntegralGyroYaw += v; |
1191 | Reading_IntegralGyroYaw += v; |
1192 | } |
1192 | } |
1193 | else |
1193 | else |
1194 | { // wait a while |
1194 | { // wait a while |
1195 | BadCompassHeading--; |
1195 | BadCompassHeading--; |
1196 | } |
1196 | } |
1197 | } |
1197 | } |
1198 | else |
1198 | else |
1199 | { // ignore compass at extreme attitudes for a while |
1199 | { // ignore compass at extreme attitudes for a while |
1200 | BadCompassHeading = 500; |
1200 | BadCompassHeading = 500; |
1201 | } |
1201 | } |
1202 | } |
1202 | } |
1203 | } |
1203 | } |
1204 | 1204 | ||
1205 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
1205 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
1206 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1207 | // GPS |
1207 | // GPS |
1208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1209 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1209 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1210 | { |
1210 | { |
1211 | GPS_Main(); |
1211 | GPS_Main(); |
1212 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
1212 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
1213 | } |
1213 | } |
1214 | else |
1214 | else |
1215 | { |
1215 | { |
1216 | GPS_Nick = 0; |
1216 | GPS_Nick = 0; |
1217 | GPS_Roll = 0; |
1217 | GPS_Roll = 0; |
1218 | } |
1218 | } |
1219 | #endif |
1219 | #endif |
1220 | 1220 | ||
1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1222 | // Debugwerte zuordnen |
1222 | // Debugwerte zuordnen |
1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | if(!TimerDebugOut--) |
1224 | if(!TimerDebugOut--) |
1225 | { |
1225 | { |
1226 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1226 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1227 | DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFactor; |
1227 | DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFactor; |
1228 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
1228 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
1229 | DebugOut.Analog[2] = Mean_AccNick; |
1229 | DebugOut.Analog[2] = Mean_AccNick; |
1230 | DebugOut.Analog[3] = Mean_AccRoll; |
1230 | DebugOut.Analog[3] = Mean_AccRoll; |
1231 | DebugOut.Analog[4] = Reading_GyroYaw; |
1231 | DebugOut.Analog[4] = Reading_GyroYaw; |
1232 | DebugOut.Analog[5] = ReadingHeight; |
1232 | DebugOut.Analog[5] = ReadingHeight; |
1233 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1233 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1234 | DebugOut.Analog[8] = CompassHeading; |
1234 | DebugOut.Analog[8] = CompassHeading; |
1235 | DebugOut.Analog[9] = UBat; |
1235 | DebugOut.Analog[9] = UBat; |
1236 | DebugOut.Analog[10] = RC_Quality; |
1236 | DebugOut.Analog[10] = RC_Quality; |
1237 | DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
1237 | DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
1238 | //DebugOut.Analog[16] = Mean_AccTop; |
1238 | //DebugOut.Analog[16] = Mean_AccTop; |
1239 | 1239 | ||
1240 | DebugOut.Analog[20] = ServoValue; |
1240 | DebugOut.Analog[20] = ServoValue; |
1241 | 1241 | ||
1242 | 1242 | ||
1243 | 1243 | ||
1244 | DebugOut.Analog[30] = GPS_Nick; |
1244 | DebugOut.Analog[30] = GPS_Nick; |
1245 | DebugOut.Analog[31] = GPS_Roll; |
1245 | DebugOut.Analog[31] = GPS_Roll; |
1246 | 1246 | ||
1247 | /* DebugOut.Analog[16] = motor_rx[0]; |
1247 | /* DebugOut.Analog[16] = motor_rx[0]; |
1248 | DebugOut.Analog[17] = motor_rx[1]; |
1248 | DebugOut.Analog[17] = motor_rx[1]; |
1249 | DebugOut.Analog[18] = motor_rx[2]; |
1249 | DebugOut.Analog[18] = motor_rx[2]; |
1250 | DebugOut.Analog[19] = motor_rx[3]; |
1250 | DebugOut.Analog[19] = motor_rx[3]; |
1251 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1251 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1252 | DebugOut.Analog[20] /= 14; |
1252 | DebugOut.Analog[20] /= 14; |
1253 | DebugOut.Analog[21] = motor_rx[4]; |
1253 | DebugOut.Analog[21] = motor_rx[4]; |
1254 | DebugOut.Analog[22] = motor_rx[5]; |
1254 | DebugOut.Analog[22] = motor_rx[5]; |
1255 | DebugOut.Analog[23] = motor_rx[6]; |
1255 | DebugOut.Analog[23] = motor_rx[6]; |
1256 | DebugOut.Analog[24] = motor_rx[7]; |
1256 | DebugOut.Analog[24] = motor_rx[7]; |
1257 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1257 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1258 | 1258 | ||
1259 | DebugOut.Analog[9] = Reading_GyroNick; |
1259 | DebugOut.Analog[9] = Reading_GyroNick; |
1260 | DebugOut.Analog[9] = SetPointHeight; |
1260 | DebugOut.Analog[9] = SetPointHeight; |
1261 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1261 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1262 | 1262 | ||
1263 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1263 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1264 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1264 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1265 | DebugOut.Analog[9] = CompassOffCourse; |
1265 | DebugOut.Analog[9] = CompassOffCourse; |
1266 | DebugOut.Analog[10] = GasMixFraction; |
1266 | DebugOut.Analog[10] = GasMixFraction; |
1267 | DebugOut.Analog[3] = HeightD * 32; |
1267 | DebugOut.Analog[3] = HeightD * 32; |
1268 | DebugOut.Analog[4] = HeightControlGas; |
1268 | DebugOut.Analog[4] = HeightControlGas; |
1269 | */ |
1269 | */ |
1270 | } |
1270 | } |
1271 | 1271 | ||
1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1273 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1273 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1274 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1274 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1275 | 1275 | ||
1276 | if(Looping_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor; |
1276 | if(Looping_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor; |
1277 | else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * Gyro_P_Factor; |
1277 | else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * Gyro_P_Factor; |
1278 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1278 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1279 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1279 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1280 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1280 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1281 | 1281 | ||
1282 | DebugOut.Analog[21] = Reading_GyroNick; |
1282 | DebugOut.Analog[21] = Reading_GyroNick; |
1283 | DebugOut.Analog[22] = Reading_GyroRoll; |
1283 | DebugOut.Analog[22] = Reading_GyroRoll; |
1284 | 1284 | ||
1285 | // limit control feedback |
1285 | // limit control feedback |
1286 | #define MAX_SENSOR (4096 * STICK_GAIN) |
1286 | #define MAX_SENSOR (4096 * STICK_GAIN) |
1287 | if(Reading_GyroNick > MAX_SENSOR) Reading_GyroNick = MAX_SENSOR; |
1287 | if(Reading_GyroNick > MAX_SENSOR) Reading_GyroNick = MAX_SENSOR; |
1288 | if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -MAX_SENSOR; |
1288 | if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -MAX_SENSOR; |
1289 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1289 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1290 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1290 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1291 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1291 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1292 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1292 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1293 | 1293 | ||
1294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1295 | // Height Control |
1295 | // Height Control |
1296 | // The height control algorithm reduces the gas but does not increase the gas. |
1296 | // The height control algorithm reduces the gas but does not increase the gas. |
1297 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1297 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1298 | 1298 | ||
1299 | GasMixFraction *= STICK_GAIN; |
1299 | GasMixFraction *= STICK_GAIN; |
1300 | 1300 | ||
1301 | // If height control is activated and no emergency landing is active |
1301 | // If height control is activated and no emergency landing is active |
1302 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
1302 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
1303 | { |
1303 | { |
1304 | int tmp_int; |
1304 | int tmp_int; |
1305 | // if height control is activated by an rc channel |
1305 | // if height control is activated by an rc channel |
1306 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1306 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1307 | { // check if parameter is less than activation threshold |
1307 | { // check if parameter is less than activation threshold |
1308 | if(FCParam.MaxHeight < 50) |
1308 | if(FCParam.MaxHeight < 50) |
1309 | { |
1309 | { |
1310 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1310 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1311 | HeightControlActive = 0; // disable height control |
1311 | HeightControlActive = 0; // disable height control |
1312 | } |
1312 | } |
1313 | else HeightControlActive = 1; // enable height control |
1313 | else HeightControlActive = 1; // enable height control |
1314 | } |
1314 | } |
1315 | else // no switchable height control |
1315 | else // no switchable height control |
1316 | { |
1316 | { |
1317 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1317 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1318 | HeightControlActive = 1; |
1318 | HeightControlActive = 1; |
1319 | } |
1319 | } |
1320 | // get current height |
1320 | // get current height |
1321 | h = ReadingHeight; |
1321 | h = ReadingHeight; |
1322 | // if current height is above the setpoint reduce gas |
1322 | // if current height is above the setpoint reduce gas |
1323 | if((h > SetPointHeight) && HeightControlActive) |
1323 | if((h > SetPointHeight) && HeightControlActive) |
1324 | { |
1324 | { |
1325 | // GasMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
1325 | // GasMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
1326 | // height difference -> P control part |
1326 | // height difference -> P control part |
1327 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
1327 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
1328 | h = GasMixFraction - h; // reduce gas |
1328 | h = GasMixFraction - h; // reduce gas |
1329 | // height gradient --> D control part |
1329 | // height gradient --> D control part |
1330 | //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
1330 | //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
1331 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1331 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1332 | // acceleration sensor effect |
1332 | // acceleration sensor effect |
1333 | tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
1333 | tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
1334 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1334 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1335 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
1335 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
1336 | h -= tmp_int; |
1336 | h -= tmp_int; |
1337 | // update height control gas |
1337 | // update height control gas |
1338 | HeightControlGas = (HeightControlGas*15 + h) / 16; |
1338 | HeightControlGas = (HeightControlGas*15 + h) / 16; |
1339 | // limit gas reduction |
1339 | // limit gas reduction |
1340 | if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN) |
1340 | if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN) |
1341 | { |
1341 | { |
1342 | if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN; |
1342 | if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN; |
1343 | // allows landing also if gas stick is reduced below min gas on height control |
1343 | // allows landing also if gas stick is reduced below min gas on height control |
1344 | if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
1344 | if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
1345 | } |
1345 | } |
1346 | // limit gas to stick setting |
1346 | // limit gas to stick setting |
1347 | if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
1347 | if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
1348 | GasMixFraction = HeightControlGas; |
1348 | GasMixFraction = HeightControlGas; |
1349 | } |
1349 | } |
1350 | } |
1350 | } |
1351 | // limit gas to parameter setting |
1351 | // limit gas to parameter setting |
1352 | if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN; |
1352 | if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN; |
1353 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1353 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1354 | // + Mixer and PI-Controller |
1354 | // + Mixer and PI-Controller |
1355 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1355 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1356 | DebugOut.Analog[7] = GasMixFraction; |
1356 | DebugOut.Analog[7] = GasMixFraction; |
1357 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1357 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1358 | // Yaw-Fraction |
1358 | // Yaw-Fraction |
1359 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1359 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1360 | YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
1360 | YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
1361 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
1361 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
1362 | // limit YawMixFraction |
1362 | // limit YawMixFraction |
1363 | if(GasMixFraction > MIN_YAWGAS) |
1363 | if(GasMixFraction > MIN_YAWGAS) |
1364 | { |
1364 | { |
1365 | if(YawMixFraction > (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2; |
1365 | if(YawMixFraction > (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2; |
1366 | if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2); |
1366 | if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2); |
1367 | } |
1367 | } |
1368 | else |
1368 | else |
1369 | { |
1369 | { |
1370 | if(YawMixFraction > (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2; |
1370 | if(YawMixFraction > (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2; |
1371 | if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2); |
1371 | if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2); |
1372 | } |
1372 | } |
1373 | tmp_int = ParamSet.Gas_Max * STICK_GAIN; |
1373 | tmp_int = ParamSet.Gas_Max * STICK_GAIN; |
1374 | if(YawMixFraction > ((tmp_int - GasMixFraction))) YawMixFraction = ((tmp_int - GasMixFraction)); |
1374 | if(YawMixFraction > ((tmp_int - GasMixFraction))) YawMixFraction = ((tmp_int - GasMixFraction)); |
1375 | if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction)); |
1375 | if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction)); |
1376 | 1376 | ||
1377 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1377 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1378 | // Nick-Axis |
1378 | // Nick-Axis |
1379 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1379 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1380 | DiffNick = Reading_GyroNick - StickNick; // get difference |
1380 | DiffNick = Reading_GyroNick - StickNick; // get difference |
1381 | if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control |
1381 | if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control |
1382 | else SumNick += DiffNick; // I-part for head holding |
1382 | else SumNick += DiffNick; // I-part for head holding |
1383 | if(SumNick > (STICK_GAIN * 16000L)) SumNick = (STICK_GAIN * 16000L); |
1383 | if(SumNick > (STICK_GAIN * 16000L)) SumNick = (STICK_GAIN * 16000L); |
1384 | if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L); |
1384 | if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L); |
1385 | pd_result = DiffNick + Ki * SumNick; // PI-controller for nick |
1385 | pd_result = DiffNick + Ki * SumNick; // PI-controller for nick |
1386 | 1386 | ||
1387 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
1387 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
1388 | if(pd_result > tmp_int) pd_result = tmp_int; |
1388 | if(pd_result > tmp_int) pd_result = tmp_int; |
1389 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1389 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1390 | 1390 | ||
1391 | // Motor Front |
1391 | // Motor Front |
1392 | MotorValue = GasMixFraction + pd_result + YawMixFraction; // Mixer |
1392 | MotorValue = GasMixFraction + pd_result + YawMixFraction; // Mixer |
1393 | MotorValue /= STICK_GAIN; |
1393 | MotorValue /= STICK_GAIN; |
1394 | if ((MotorValue < 0)) MotorValue = 0; |
1394 | if ((MotorValue < 0)) MotorValue = 0; |
1395 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1395 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1396 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1396 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1397 | Motor_Front = MotorValue; |
1397 | Motor_Front = MotorValue; |
1398 | 1398 | ||
1399 | // Motor Rear |
1399 | // Motor Rear |
1400 | MotorValue = GasMixFraction - pd_result + YawMixFraction; // Mixer |
1400 | MotorValue = GasMixFraction - pd_result + YawMixFraction; // Mixer |
1401 | MotorValue /= STICK_GAIN; |
1401 | MotorValue /= STICK_GAIN; |
1402 | if ((MotorValue < 0)) MotorValue = 0; |
1402 | if ((MotorValue < 0)) MotorValue = 0; |
1403 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1403 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1404 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1404 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1405 | Motor_Rear = MotorValue; |
1405 | Motor_Rear = MotorValue; |
1406 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1406 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1407 | // Roll-Axis |
1407 | // Roll-Axis |
1408 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1408 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1409 | DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
1409 | DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
1410 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
1410 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
1411 | else SumRoll += DiffRoll; // I-part for head holding |
1411 | else SumRoll += DiffRoll; // I-part for head holding |
1412 | if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
1412 | if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L); |
1413 | if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
1413 | if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L); |
1414 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1414 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1415 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
1415 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64; |
1416 | if(pd_result > tmp_int) pd_result = tmp_int; |
1416 | if(pd_result > tmp_int) pd_result = tmp_int; |
1417 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1417 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1418 | 1418 | ||
1419 | // Motor Left |
1419 | // Motor Left |
1420 | MotorValue = GasMixFraction + pd_result - YawMixFraction; // Mixer |
1420 | MotorValue = GasMixFraction + pd_result - YawMixFraction; // Mixer |
1421 | MotorValue /= STICK_GAIN; |
1421 | MotorValue /= STICK_GAIN; |
1422 | if ((MotorValue < 0)) MotorValue = 0; |
1422 | if ((MotorValue < 0)) MotorValue = 0; |
1423 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1423 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1424 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1424 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1425 | Motor_Left = MotorValue; |
1425 | Motor_Left = MotorValue; |
1426 | 1426 | ||
1427 | // Motor Right |
1427 | // Motor Right |
1428 | MotorValue = GasMixFraction - pd_result - YawMixFraction; // Mixer |
1428 | MotorValue = GasMixFraction - pd_result - YawMixFraction; // Mixer |
1429 | MotorValue /= STICK_GAIN; |
1429 | MotorValue /= STICK_GAIN; |
1430 | if ((MotorValue < 0)) MotorValue = 0; |
1430 | if ((MotorValue < 0)) MotorValue = 0; |
1431 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1431 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
1432 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1432 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
1433 | Motor_Right = MotorValue; |
1433 | Motor_Right = MotorValue; |
1434 | } |
1434 | } |
1435 | 1435 | ||
1436 | 1436 |