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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
- | |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 51 | ||
53 | #include <stdlib.h> |
52 | #include <stdlib.h> |
54 | #include <avr/io.h> |
53 | #include <avr/io.h> |
55 | #include "eeprom.h" |
54 | #include "eeprom.h" |
56 | #include "flight.h" |
55 | #include "flight.h" |
57 | #include "output.h" |
56 | #include "output.h" |
58 | 57 | ||
59 | // Only for debug. Remove. |
58 | // Only for debug. Remove. |
60 | //#include "analog.h" |
59 | //#include "analog.h" |
61 | //#include "rc.h" |
60 | //#include "rc.h" |
62 | 61 | ||
63 | // Necessary for external control and motor test |
62 | // Necessary for external control and motor test |
64 | #include "uart0.h" |
63 | #include "uart0.h" |
65 | 64 | ||
66 | // for scope debugging |
65 | // for scope debugging |
67 | // #include "rc.h" |
66 | // #include "rc.h" |
68 | 67 | ||
69 | #include "twimaster.h" |
68 | #include "twimaster.h" |
70 | #include "attitude.h" |
69 | #include "attitude.h" |
71 | #include "controlMixer.h" |
70 | #include "controlMixer.h" |
72 | #include "commands.h" |
71 | #include "commands.h" |
73 | #ifdef USE_MK3MAG |
72 | #ifdef USE_MK3MAG |
74 | #include "gps.h" |
73 | #include "gps.h" |
75 | #endif |
74 | #endif |
76 | 75 | ||
77 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
76 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
78 | 77 | ||
79 | /* |
78 | /* |
80 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
79 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
81 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
80 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
82 | */ |
81 | */ |
83 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
82 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
84 | 83 | ||
85 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
84 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
86 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
85 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
87 | 86 | ||
88 | // Some integral weight constant... |
87 | // Some integral weight constant... |
89 | uint16_t Ki = 10300 / 33; |
88 | uint16_t Ki = 10300 / 33; |
90 | uint8_t RequiredMotors = 0; |
89 | uint8_t RequiredMotors = 0; |
91 | 90 | ||
92 | /************************************************************************/ |
91 | /************************************************************************/ |
93 | /* Filter for motor value smoothing (necessary???) */ |
92 | /* Filter for motor value smoothing (necessary???) */ |
94 | /************************************************************************/ |
93 | /************************************************************************/ |
95 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
94 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
96 | switch(dynamicParams.UserParams[5]) { |
95 | switch(dynamicParams.UserParams[5]) { |
97 | case 0: |
96 | case 0: |
98 | return newvalue; |
97 | return newvalue; |
99 | case 1: |
98 | case 1: |
100 | return (oldvalue + newvalue) / 2; |
99 | return (oldvalue + newvalue) / 2; |
101 | case 2: |
100 | case 2: |
102 | if(newvalue > oldvalue) |
101 | if(newvalue > oldvalue) |
103 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
102 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
104 | else |
103 | else |
105 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
104 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
106 | case 3: |
105 | case 3: |
107 | if(newvalue < oldvalue) |
106 | if(newvalue < oldvalue) |
108 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
107 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
109 | else |
108 | else |
110 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
109 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
111 | default: return newvalue; |
110 | default: return newvalue; |
112 | } |
111 | } |
113 | } |
112 | } |
114 | 113 | ||
115 | /************************************************************************/ |
114 | /************************************************************************/ |
116 | /* Neutral Readings */ |
115 | /* Neutral Readings */ |
117 | /************************************************************************/ |
116 | /************************************************************************/ |
118 | void flight_setNeutral() { |
117 | void flight_setNeutral() { |
119 | MKFlags |= MKFLAG_CALIBRATE; |
118 | MKFlags |= MKFLAG_CALIBRATE; |
120 | // not really used here any more. |
119 | // not really used here any more. |
121 | dynamicParams.KalmanK = -1; |
120 | dynamicParams.KalmanK = -1; |
122 | dynamicParams.KalmanMaxDrift = 0; |
121 | dynamicParams.KalmanMaxDrift = 0; |
123 | dynamicParams.KalmanMaxFusion = 32; |
122 | dynamicParams.KalmanMaxFusion = 32; |
124 | controlMixer_initVariables(); |
123 | controlMixer_initVariables(); |
125 | } |
124 | } |
126 | 125 | ||
127 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
126 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
128 | Ki = 10300 / _Ki; |
127 | Ki = 10300 / _Ki; |
129 | gyroPFactor = _gyroPFactor; |
128 | gyroPFactor = _gyroPFactor; |
130 | gyroIFactor = _gyroIFactor; |
129 | gyroIFactor = _gyroIFactor; |
131 | yawPFactor = _yawPFactor; |
130 | yawPFactor = _yawPFactor; |
132 | yawIFactor = _yawIFactor; |
131 | yawIFactor = _yawIFactor; |
133 | } |
132 | } |
134 | 133 | ||
135 | void setNormalFlightParameters(void) { |
134 | void setNormalFlightParameters(void) { |
136 | setFlightParameters(dynamicParams.IFactor + 1, |
135 | setFlightParameters(dynamicParams.IFactor + 1, |
137 | dynamicParams.GyroP + 10, |
136 | dynamicParams.GyroP + 10, |
138 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
137 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
139 | dynamicParams.GyroP + 10, |
138 | dynamicParams.GyroP + 10, |
140 | dynamicParams.UserParams[6] |
139 | dynamicParams.UserParams[6] |
141 | ); |
140 | ); |
142 | } |
141 | } |
143 | 142 | ||
144 | void setStableFlightParameters(void) { |
143 | void setStableFlightParameters(void) { |
145 | setFlightParameters(33, 90, 120, 90, 120); |
144 | setFlightParameters(33, 90, 120, 90, 120); |
146 | } |
145 | } |
147 | 146 | ||
148 | 147 | ||
149 | /************************************************************************/ |
148 | /************************************************************************/ |
150 | /* Main Flight Control */ |
149 | /* Main Flight Control */ |
151 | /************************************************************************/ |
150 | /************************************************************************/ |
152 | void flight_control(void) { |
151 | void flight_control(void) { |
153 | int16_t tmp_int; |
152 | int16_t tmp_int; |
154 | // Mixer Fractions that are combined for Motor Control |
153 | // Mixer Fractions that are combined for Motor Control |
155 | int16_t yawTerm, throttleTerm, term[2]; |
154 | int16_t yawTerm, throttleTerm, term[2]; |
156 | 155 | ||
157 | // PID controller variables |
156 | // PID controller variables |
158 | int16_t PDPart[2], PDPartYaw, PPart[2]; |
157 | int16_t PDPart[2], PDPartYaw, PPart[2]; |
159 | static int32_t IPart[2] = {0,0}; |
158 | static int32_t IPart[2] = {0,0}; |
160 | // static int32_t yawControlRate = 0; |
159 | // static int32_t yawControlRate = 0; |
161 | 160 | ||
162 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
161 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
163 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
162 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
164 | // static int32_t CorrectionPitch, CorrectionRoll; |
163 | // static int32_t CorrectionPitch, CorrectionRoll; |
165 | 164 | ||
166 | static uint16_t emergencyFlightTime; |
165 | static uint16_t emergencyFlightTime; |
167 | static int8_t debugDataTimer = 1; |
166 | static int8_t debugDataTimer = 1; |
168 | 167 | ||
169 | // High resolution motor values for smoothing of PID motor outputs |
168 | // High resolution motor values for smoothing of PID motor outputs |
170 | static int16_t motorFilters[MAX_MOTORS]; |
169 | static int16_t motorFilters[MAX_MOTORS]; |
171 | 170 | ||
172 | uint8_t i, axis; |
171 | uint8_t i, axis; |
173 | - | ||
174 | controlMixer_update(); |
- | |
175 | 172 | ||
- | 173 | // Fire the main flight attitude calculation, including integration of angles. |
|
176 | // Fire the main flight attitude calculation, including integration of angles. |
174 | // We want that to kick as early as possible, not to delay new AD sampling further. |
- | 175 | calculateFlightAttitude(); |
|
- | 176 | ||
177 | calculateFlightAttitude(); |
177 | controlMixer_update(); |
178 | 178 | ||
179 | throttleTerm = controlThrottle; |
179 | throttleTerm = controlThrottle; |
180 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
180 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
181 | if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
181 | if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
182 | else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
182 | else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
183 | 183 | ||
184 | /************************************************************************/ |
184 | /************************************************************************/ |
185 | /* RC-signal is bad */ |
185 | /* RC-signal is bad */ |
186 | /* This part could be abstracted, as having yet another control input */ |
186 | /* This part could be abstracted, as having yet another control input */ |
187 | /* to the control mixer: An emergency autopilot control. */ |
187 | /* to the control mixer: An emergency autopilot control. */ |
188 | /************************************************************************/ |
188 | /************************************************************************/ |
189 | 189 | ||
190 | if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
190 | if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
191 | RED_ON; |
191 | RED_ON; |
192 | beepRCAlarm(); |
192 | beepRCAlarm(); |
193 | 193 | ||
194 | if(emergencyFlightTime) { |
194 | if(emergencyFlightTime) { |
195 | // continue emergency flight |
195 | // continue emergency flight |
196 | emergencyFlightTime--; |
196 | emergencyFlightTime--; |
197 | if(isFlying > 256) { |
197 | if(isFlying > 256) { |
198 | // We're probably still flying. Descend slowly. |
198 | // We're probably still flying. Descend slowly. |
199 | throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
199 | throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
200 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
200 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
201 | setStableFlightParameters(); |
201 | setStableFlightParameters(); |
202 | } else { |
202 | } else { |
203 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
203 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
204 | } |
204 | } |
205 | } else { |
205 | } else { |
206 | // end emergency flight (just cut the motors???) |
206 | // end emergency flight (just cut the motors???) |
207 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
207 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
208 | } |
208 | } |
209 | } else { |
209 | } else { |
210 | // signal is acceptable |
210 | // signal is acceptable |
211 | if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
211 | if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
212 | // Reset emergency landing control variables. |
212 | // Reset emergency landing control variables. |
213 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
213 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
214 | // The time is in whole seconds. |
214 | // The time is in whole seconds. |
215 | emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488; |
215 | emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488; |
216 | } |
216 | } |
217 | 217 | ||
218 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
218 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
219 | if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
219 | if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
220 | // increment flight-time counter until overflow. |
220 | // increment flight-time counter until overflow. |
221 | if(isFlying != 0xFFFF) isFlying++; |
221 | if(isFlying != 0xFFFF) isFlying++; |
222 | } else |
222 | } else |
223 | /* |
223 | /* |
224 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
224 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
225 | * Probably to avoid integration effects that will cause the copter to spin |
225 | * Probably to avoid integration effects that will cause the copter to spin |
226 | * or flip when taking off. |
226 | * or flip when taking off. |
227 | */ |
227 | */ |
228 | if(isFlying < 256) { |
228 | if(isFlying < 256) { |
229 | IPart[PITCH] = IPart[ROLL] = 0; |
229 | IPart[PITCH] = IPart[ROLL] = 0; |
230 | // TODO: Don't stomp on other modules' variables!!! |
230 | // TODO: Don't stomp on other modules' variables!!! |
231 | // controlYaw = 0; |
231 | // controlYaw = 0; |
232 | PDPartYaw = 0; // instead. |
232 | PDPartYaw = 0; // instead. |
233 | if(isFlying == 250) { |
233 | if(isFlying == 250) { |
234 | // HC_setGround(); |
234 | // HC_setGround(); |
235 | updateCompassCourse = 1; |
235 | updateCompassCourse = 1; |
236 | yawAngleDiff = 0; |
236 | yawAngleDiff = 0; |
237 | } |
237 | } |
238 | } else { |
238 | } else { |
239 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
239 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
240 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
240 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
241 | MKFlags |= (MKFLAG_FLY); |
241 | MKFlags |= (MKFLAG_FLY); |
242 | } |
242 | } |
243 | 243 | ||
244 | commands_handleCommands(); |
244 | commands_handleCommands(); |
245 | 245 | ||
246 | // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
246 | // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
247 | setNormalFlightParameters(); |
247 | setNormalFlightParameters(); |
248 | // } |
248 | // } |
249 | } // end else (not bad signal case) |
249 | } // end else (not bad signal case) |
250 | // end part1a: 750-800 usec. |
250 | // end part1a: 750-800 usec. |
251 | /* |
251 | /* |
252 | * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
252 | * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
253 | * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
253 | * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
254 | * This is the throttle part. |
254 | * This is the throttle part. |
255 | */ |
255 | */ |
256 | if(looping) { |
256 | if(looping) { |
257 | if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
257 | if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
258 | } |
258 | } |
259 | 259 | ||
260 | /************************************************************************/ |
260 | /************************************************************************/ |
261 | /* Yawing */ |
261 | /* Yawing */ |
262 | /************************************************************************/ |
262 | /************************************************************************/ |
263 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
263 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
264 | ignoreCompassTimer = 1000; |
264 | ignoreCompassTimer = 1000; |
265 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
265 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
266 | updateCompassCourse = 1; |
266 | updateCompassCourse = 1; |
267 | } |
267 | } |
268 | } |
268 | } |
269 | 269 | ||
270 | // yawControlRate = controlYaw; |
270 | // yawControlRate = controlYaw; |
271 | 271 | ||
272 | // Trim drift of yawAngleDiff with controlYaw. |
272 | // Trim drift of yawAngleDiff with controlYaw. |
273 | // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
273 | // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
274 | // This seems to be used as: Difference desired <--> real heading. |
274 | // This seems to be used as: Difference desired <--> real heading. |
275 | yawAngleDiff -= controlYaw; |
275 | yawAngleDiff -= controlYaw; |
276 | 276 | ||
277 | // limit the effect |
277 | // limit the effect |
278 | CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
278 | CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
279 | 279 | ||
280 | /************************************************************************/ |
280 | /************************************************************************/ |
281 | /* Compass is currently not supported. */ |
281 | /* Compass is currently not supported. */ |
282 | /************************************************************************/ |
282 | /************************************************************************/ |
283 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
283 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
284 | updateCompass(); |
284 | updateCompass(); |
285 | } |
285 | } |
286 | 286 | ||
287 | #if defined (USE_NAVICTRL) |
287 | #if defined (USE_NAVICTRL) |
288 | /************************************************************************/ |
288 | /************************************************************************/ |
289 | /* GPS is currently not supported. */ |
289 | /* GPS is currently not supported. */ |
290 | /************************************************************************/ |
290 | /************************************************************************/ |
291 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
291 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
292 | GPS_Main(); |
292 | GPS_Main(); |
293 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
293 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
294 | } else { |
294 | } else { |
295 | } |
295 | } |
296 | #endif |
296 | #endif |
297 | // end part 1: 750-800 usec. |
297 | // end part 1: 750-800 usec. |
298 | // start part 3: 350 - 400 usec. |
298 | // start part 3: 350 - 400 usec. |
299 | #define SENSOR_LIMIT (4096 * 4) |
299 | #define SENSOR_LIMIT (4096 * 4) |
300 | /************************************************************************/ |
300 | /************************************************************************/ |
301 | 301 | ||
302 | /* Calculate control feedback from angle (gyro integral) */ |
302 | /* Calculate control feedback from angle (gyro integral) */ |
303 | /* and angular velocity (gyro signal) */ |
303 | /* and angular velocity (gyro signal) */ |
304 | /************************************************************************/ |
304 | /************************************************************************/ |
305 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
305 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
306 | 306 | ||
307 | for (axis=PITCH; axis<=ROLL; axis++) { |
307 | for (axis=PITCH; axis<=ROLL; axis++) { |
308 | if(looping & ((1<<4)<<axis)) { |
308 | if(looping & ((1<<4)<<axis)) { |
309 | PPart[axis] = 0; |
309 | PPart[axis] = 0; |
310 | } else { // TODO: Where do the 44000 come from??? |
310 | } else { // TODO: Where do the 44000 come from??? |
311 | PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
311 | PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
312 | } |
312 | } |
313 | 313 | ||
314 | /* |
314 | /* |
315 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
315 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
316 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
316 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
317 | * where pfactor is in [0..1]. |
317 | * where pfactor is in [0..1]. |
318 | */ |
318 | */ |
319 | PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
319 | PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
320 | + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
320 | + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
321 | 321 | ||
322 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
322 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
323 | } |
323 | } |
324 | 324 | ||
325 | PDPartYaw = |
325 | PDPartYaw = |
326 | (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
326 | (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
327 | + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
327 | + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
328 | 328 | ||
329 | // limit control feedback |
329 | // limit control feedback |
330 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
330 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
331 | 331 | ||
332 | /* |
332 | /* |
333 | * Compose throttle term. |
333 | * Compose throttle term. |
334 | * If a Bl-Ctrl is missing, prevent takeoff. |
334 | * If a Bl-Ctrl is missing, prevent takeoff. |
335 | */ |
335 | */ |
336 | if(missingMotor) { |
336 | if(missingMotor) { |
337 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
337 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
338 | if(isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
338 | if(isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
339 | isFlying = 1; // keep within lift off condition |
339 | isFlying = 1; // keep within lift off condition |
340 | throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
340 | throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
341 | } |
341 | } |
342 | 342 | ||
343 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
343 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
344 | throttleTerm *= CONTROL_SCALING; |
344 | throttleTerm *= CONTROL_SCALING; |
345 | 345 | ||
346 | /* |
346 | /* |
347 | * Compose yaw term. |
347 | * Compose yaw term. |
348 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
348 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
349 | * However, at low throttle the yaw term is limited to a fixed value, |
349 | * However, at low throttle the yaw term is limited to a fixed value, |
350 | * and at high throttle it is limited by the throttle reserve (the difference |
350 | * and at high throttle it is limited by the throttle reserve (the difference |
351 | * between current throttle and maximum throttle). |
351 | * between current throttle and maximum throttle). |
352 | */ |
352 | */ |
353 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
353 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
354 | yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
354 | yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
355 | // Limit yawTerm |
355 | // Limit yawTerm |
356 | DebugOut.Digital[0] &= ~DEBUG_CLIP; |
356 | DebugOut.Digital[0] &= ~DEBUG_CLIP; |
357 | if(throttleTerm > MIN_YAWGAS) { |
357 | if(throttleTerm > MIN_YAWGAS) { |
358 | if (yawTerm < -throttleTerm/2) { |
358 | if (yawTerm < -throttleTerm/2) { |
359 | DebugOut.Digital[0] |= DEBUG_CLIP; |
359 | DebugOut.Digital[0] |= DEBUG_CLIP; |
360 | yawTerm = -throttleTerm/2; |
360 | yawTerm = -throttleTerm/2; |
361 | } else if (yawTerm > throttleTerm/2) { |
361 | } else if (yawTerm > throttleTerm/2) { |
362 | DebugOut.Digital[0] |= DEBUG_CLIP; |
362 | DebugOut.Digital[0] |= DEBUG_CLIP; |
363 | yawTerm = throttleTerm/2; |
363 | yawTerm = throttleTerm/2; |
364 | } |
364 | } |
365 | //CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
365 | //CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
366 | } else { |
366 | } else { |
367 | if (yawTerm < -MIN_YAWGAS/2) { |
367 | if (yawTerm < -MIN_YAWGAS/2) { |
368 | DebugOut.Digital[0] |= DEBUG_CLIP; |
368 | DebugOut.Digital[0] |= DEBUG_CLIP; |
369 | yawTerm = -MIN_YAWGAS/2; |
369 | yawTerm = -MIN_YAWGAS/2; |
370 | } else if (yawTerm > MIN_YAWGAS/2) { |
370 | } else if (yawTerm > MIN_YAWGAS/2) { |
371 | DebugOut.Digital[0] |= DEBUG_CLIP; |
371 | DebugOut.Digital[0] |= DEBUG_CLIP; |
372 | yawTerm = MIN_YAWGAS/2; |
372 | yawTerm = MIN_YAWGAS/2; |
373 | } |
373 | } |
374 | //CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
374 | //CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
375 | } |
375 | } |
376 | 376 | ||
377 | // FIXME: Throttle may exceed maxThrottle (there is no check no more). |
377 | // FIXME: Throttle may exceed maxThrottle (there is no check no more). |
378 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
378 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
379 | if (yawTerm < -(tmp_int - throttleTerm)) { |
379 | if (yawTerm < -(tmp_int - throttleTerm)) { |
380 | yawTerm = -(tmp_int - throttleTerm); |
380 | yawTerm = -(tmp_int - throttleTerm); |
381 | DebugOut.Digital[0] |= DEBUG_CLIP; |
381 | DebugOut.Digital[0] |= DEBUG_CLIP; |
382 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
382 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
383 | yawTerm = (tmp_int - throttleTerm); |
383 | yawTerm = (tmp_int - throttleTerm); |
384 | DebugOut.Digital[0] |= DEBUG_CLIP; |
384 | DebugOut.Digital[0] |= DEBUG_CLIP; |
385 | } |
385 | } |
386 | 386 | ||
387 | // CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
387 | // CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
388 | DebugOut.Digital[1] &= ~DEBUG_CLIP; |
388 | DebugOut.Digital[1] &= ~DEBUG_CLIP; |
389 | for (axis=PITCH; axis<=ROLL; axis++) { |
389 | for (axis=PITCH; axis<=ROLL; axis++) { |
390 | /* |
390 | /* |
391 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
391 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
392 | */ |
392 | */ |
393 | if(gyroIFactor) { |
393 | if(gyroIFactor) { |
394 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
394 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
395 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
395 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
396 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
396 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
397 | IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
397 | IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
398 | } else { |
398 | } else { |
399 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
399 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
400 | // To keep up with a full stick PDPart should be about 156... |
400 | // To keep up with a full stick PDPart should be about 156... |
401 | IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
401 | IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
402 | } |
402 | } |
403 | 403 | ||
404 | tmp_int = (int32_t)((int32_t) dynamicParams.DynamicStability * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64; |
404 | tmp_int = (int32_t)((int32_t) dynamicParams.DynamicStability * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64; |
405 | 405 | ||
406 | // TODO: From which planet comes the 16000? |
406 | // TODO: From which planet comes the 16000? |
407 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
407 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
408 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
408 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
409 | term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
409 | term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
410 | 410 | ||
411 | /* |
411 | /* |
412 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
412 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
413 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
413 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
414 | * (max. pitch or roll term is the throttle value). |
414 | * (max. pitch or roll term is the throttle value). |
415 | * TODO: Why a growing function of yaw? |
415 | * TODO: Why a growing function of yaw? |
416 | */ |
416 | */ |
417 | if (term[axis] < -tmp_int) { |
417 | if (term[axis] < -tmp_int) { |
418 | DebugOut.Digital[1] |= DEBUG_CLIP; |
418 | DebugOut.Digital[1] |= DEBUG_CLIP; |
419 | } else if (term[axis] > tmp_int) { |
419 | } else if (term[axis] > tmp_int) { |
420 | DebugOut.Digital[1] |= DEBUG_CLIP; |
420 | DebugOut.Digital[1] |= DEBUG_CLIP; |
421 | } |
421 | } |
422 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
422 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
423 | } |
423 | } |
424 | // end part 3: 350 - 400 usec. |
424 | // end part 3: 350 - 400 usec. |
425 | 425 | ||
426 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
426 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
427 | // Universal Mixer |
427 | // Universal Mixer |
428 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
428 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
429 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
429 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
430 | 430 | ||
431 | DebugOut.Analog[12] = term[PITCH]; |
431 | DebugOut.Analog[12] = term[PITCH]; |
432 | DebugOut.Analog[13] = term[ROLL]; |
432 | DebugOut.Analog[13] = term[ROLL]; |
433 | DebugOut.Analog[14] = yawTerm; |
433 | DebugOut.Analog[14] = yawTerm; |
434 | DebugOut.Analog[15] = throttleTerm; |
434 | DebugOut.Analog[15] = throttleTerm; |
435 | 435 | ||
436 | for(i = 0; i < MAX_MOTORS; i++) { |
436 | for(i = 0; i < MAX_MOTORS; i++) { |
437 | int16_t tmp; |
437 | int16_t tmp; |
438 | if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
438 | if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
439 | tmp = ((int32_t) throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
439 | tmp = ((int32_t) throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
440 | tmp += ((int32_t) term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
440 | tmp += ((int32_t) term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
441 | tmp += ((int32_t) term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
441 | tmp += ((int32_t) term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
442 | tmp += ((int32_t) yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
442 | tmp += ((int32_t) yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
443 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
443 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
444 | // Now we scale back down to a 0..255 range. |
444 | // Now we scale back down to a 0..255 range. |
445 | tmp = motorFilters[i] / MOTOR_SCALING; |
445 | tmp = motorFilters[i] / MOTOR_SCALING; |
446 | 446 | ||
447 | // So this was the THIRD time a throttle was limited. But should the limitation |
447 | // So this was the THIRD time a throttle was limited. But should the limitation |
448 | // apply to the common throttle signal (the one used for setting the "power" of |
448 | // apply to the common throttle signal (the one used for setting the "power" of |
449 | // all motors together) or should it limit the throttle set for each motor, |
449 | // all motors together) or should it limit the throttle set for each motor, |
450 | // including mix components of pitch, roll and yaw? I think only the common |
450 | // including mix components of pitch, roll and yaw? I think only the common |
451 | // throttle should be limited. |
451 | // throttle should be limited. |
452 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
452 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
453 | // Apply to individual signals instead. |
453 | // Apply to individual signals instead. |
454 | CHECK_MIN_MAX(tmp, 8, 255); |
454 | CHECK_MIN_MAX(tmp, 8, 255); |
455 | motor[i].SetPoint = tmp; |
455 | motor[i].SetPoint = tmp; |
456 | } |
456 | } |
457 | else if (motorTestActive) { |
457 | else if (motorTestActive) { |
458 | motor[i].SetPoint = motorTest[i]; |
458 | motor[i].SetPoint = motorTest[i]; |
459 | } else { |
459 | } else { |
460 | motor[i].SetPoint = 0; |
460 | motor[i].SetPoint = 0; |
461 | } |
461 | } |
462 | if (i < 4) |
462 | if (i < 4) |
463 | DebugOut.Analog[22+i] = motor[i].SetPoint; |
463 | DebugOut.Analog[22+i] = motor[i].SetPoint; |
464 | } |
464 | } |
465 | I2C_Start(TWI_STATE_MOTOR_TX); |
465 | I2C_Start(TWI_STATE_MOTOR_TX); |
466 | 466 | ||
467 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
467 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
468 | // Debugging |
468 | // Debugging |
469 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
469 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
470 | if(!(--debugDataTimer)) { |
470 | if(!(--debugDataTimer)) { |
471 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
471 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
472 | DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
472 | DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
473 | DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
473 | DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
474 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
474 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
475 | 475 | ||
476 | /* |
476 | /* |
477 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
477 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
478 | DebugOut.Analog[24] = controlYaw; |
478 | DebugOut.Analog[24] = controlYaw; |
479 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
479 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
480 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
480 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
481 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
481 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
482 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
482 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
483 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
483 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
484 | */ |
484 | */ |
485 | } |
485 | } |
486 | } |
486 | } |
487 | 487 |