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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 04.2007 Holger Buss |
5 | // + Copyright (c) 04.2007 Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + POSSIBILITY OF SUCH DAMAGE. |
52 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | #include <stdlib.h> |
54 | #include <stdlib.h> |
55 | #include <avr/io.h> |
55 | #include <avr/io.h> |
56 | 56 | ||
57 | #include "main.h" |
57 | #include "main.h" |
58 | #include "eeprom.h" |
58 | #include "eeprom.h" |
59 | #include "timer0.h" |
59 | #include "timer0.h" |
60 | #include "_Settings.h" |
60 | #include "_Settings.h" |
61 | #include "analog.h" |
61 | #include "analog.h" |
62 | #include "fc.h" |
62 | #include "fc.h" |
63 | #include "gps.h" |
63 | #include "gps.h" |
64 | #include "uart.h" |
64 | #include "uart.h" |
65 | #include "rc.h" |
65 | #include "rc.h" |
66 | #include "twimaster.h" |
66 | #include "twimaster.h" |
67 | #include "mm3.h" |
67 | #include "mm3.h" |
68 | 68 | ||
69 | 69 | ||
70 | volatile unsigned int I2CTimeout = 100; |
70 | volatile unsigned int I2CTimeout = 100; |
71 | // gyro readings |
71 | // gyro readings |
72 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
72 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
73 | // gyro neutral readings |
73 | // gyro neutral readings |
74 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
74 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
75 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
75 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
76 | // mean accelerations |
76 | // mean accelerations |
77 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
77 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
78 | 78 | ||
79 | // neutral acceleration readings |
79 | // neutral acceleration readings |
80 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
80 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
81 | volatile float NeutralAccZ = 0; |
81 | volatile float NeutralAccZ = 0; |
82 | 82 | ||
83 | // attitude gyro integrals |
83 | // attitude gyro integrals |
84 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
84 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
85 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
85 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
86 | volatile int32_t IntegralYaw = 0; |
86 | volatile int32_t IntegralYaw = 0; |
87 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
87 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
88 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
88 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
89 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
89 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
90 | volatile int32_t MeanIntegralPitch; |
90 | volatile int32_t MeanIntegralPitch; |
91 | volatile int32_t MeanIntegralRoll; |
91 | volatile int32_t MeanIntegralRoll; |
92 | 92 | ||
93 | // attitude acceleration integrals |
93 | // attitude acceleration integrals |
94 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0; |
94 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0; |
95 | volatile int32_t Reading_Integral_Top = 0; |
95 | volatile int32_t Reading_Integral_Top = 0; |
96 | 96 | ||
97 | // compass course |
97 | // compass course |
98 | volatile int16_t CompassHeading = 0; |
98 | volatile int16_t CompassHeading = 0; |
99 | volatile int16_t CompassCourse = 0; |
99 | volatile int16_t CompassCourse = 0; |
100 | volatile int16_t CompassOffCourse = 0; |
100 | volatile int16_t CompassOffCourse = 0; |
101 | 101 | ||
102 | // flags |
102 | // flags |
103 | uint8_t MotorsOn = 0; |
103 | uint8_t MotorsOn = 0; |
104 | 104 | ||
105 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
105 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
106 | 106 | ||
107 | float Gyro_P_Factor; |
107 | float Gyro_P_Factor; |
108 | float Gyro_I_Factor; |
108 | float Gyro_I_Factor; |
109 | 109 | ||
110 | volatile int16_t DiffPitch, DiffRoll; |
110 | volatile int16_t DiffPitch, DiffRoll; |
111 | 111 | ||
112 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
112 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
113 | 113 | ||
114 | // setpoints for motors |
114 | // setpoints for motors |
115 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
115 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
116 | 116 | ||
117 | // stick values derived by rc channels readings |
117 | // stick values derived by rc channels readings |
118 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
118 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
119 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
119 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
120 | // stick values derived by uart inputs |
120 | // stick values derived by uart inputs |
121 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
121 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
122 | 122 | ||
123 | 123 | ||
124 | 124 | ||
125 | 125 | ||
126 | int16_t ReadingHight = 0; |
126 | int16_t ReadingHight = 0; |
127 | int16_t SetPointHight = 0; |
127 | int16_t SetPointHight = 0; |
128 | 128 | ||
129 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
129 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
130 | 130 | ||
131 | float Ki = FACTOR_I; |
131 | float Ki = FACTOR_I; |
132 | 132 | ||
133 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
133 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
134 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
134 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
135 | 135 | ||
136 | 136 | ||
137 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
137 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
138 | 138 | ||
139 | 139 | ||
140 | /************************************************************************/ |
140 | /************************************************************************/ |
141 | /* Creates numbeeps beeps at the speaker */ |
141 | /* Creates numbeeps beeps at the speaker */ |
142 | /************************************************************************/ |
142 | /************************************************************************/ |
143 | void Beep(uint8_t numbeeps) |
143 | void Beep(uint8_t numbeeps) |
144 | { |
144 | { |
145 | while(numbeeps--) |
145 | while(numbeeps--) |
146 | { |
146 | { |
147 | if(MotorsOn) return; //auf keinen Fall im Flug! |
147 | if(MotorsOn) return; //auf keinen Fall im Flug! |
148 | BeepTime = 100; // 0.1 second |
148 | BeepTime = 100; // 0.1 second |
149 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
149 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
150 | // this will block the flight control loop, |
150 | // this will block the flight control loop, |
151 | // therefore do not use this funktion if motors are running |
151 | // therefore do not use this funktion if motors are running |
152 | } |
152 | } |
153 | } |
153 | } |
154 | 154 | ||
155 | /************************************************************************/ |
155 | /************************************************************************/ |
156 | /* Neutral Readings */ |
156 | /* Neutral Readings */ |
157 | /************************************************************************/ |
157 | /************************************************************************/ |
158 | void SetNeutral(void) |
158 | void SetNeutral(void) |
159 | { |
159 | { |
160 | NeutralAccX = 0; |
160 | NeutralAccX = 0; |
161 | NeutralAccY = 0; |
161 | NeutralAccY = 0; |
162 | NeutralAccZ = 0; |
162 | NeutralAccZ = 0; |
163 | AdNeutralPitch = 0; |
163 | AdNeutralPitch = 0; |
164 | AdNeutralRoll = 0; |
164 | AdNeutralRoll = 0; |
165 | AdNeutralYaw = 0; |
165 | AdNeutralYaw = 0; |
166 | FCParam.Yaw_PosFeedback = 0; |
166 | FCParam.Yaw_PosFeedback = 0; |
167 | FCParam.Yaw_NegFeedback = 0; |
167 | FCParam.Yaw_NegFeedback = 0; |
168 | CalibMean(); |
168 | CalibMean(); |
169 | Delay_ms_Mess(100); |
169 | Delay_ms_Mess(100); |
170 | CalibMean(); |
170 | CalibMean(); |
171 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
171 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
172 | { |
172 | { |
173 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
173 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
174 | } |
174 | } |
175 | AdNeutralPitch = AdValueGyrPitch; |
175 | AdNeutralPitch = AdValueGyrPitch; |
176 | AdNeutralRoll = AdValueGyrRoll; |
176 | AdNeutralRoll = AdValueGyrRoll; |
177 | AdNeutralYaw = AdValueGyrYaw; |
177 | AdNeutralYaw = AdValueGyrYaw; |
178 | StartNeutralRoll = AdNeutralRoll; |
178 | StartNeutralRoll = AdNeutralRoll; |
179 | StartNeutralPitch = AdNeutralPitch; |
179 | StartNeutralPitch = AdNeutralPitch; |
180 | if(GetParamByte(PID_ACC_PITCH) > 4) |
180 | if(GetParamByte(PID_ACC_PITCH) > 4) |
181 | { |
181 | { |
182 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
182 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
183 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
183 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
184 | NeutralAccZ = Current_AccZ; |
184 | NeutralAccZ = Current_AccZ; |
185 | } |
185 | } |
186 | else |
186 | else |
187 | { |
187 | { |
188 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
188 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
189 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
189 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
190 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
190 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
191 | } |
191 | } |
192 | Reading_IntegralGyroPitch = 0; |
192 | Reading_IntegralGyroPitch = 0; |
193 | Reading_IntegralGyroPitch2 = 0; |
193 | Reading_IntegralGyroPitch2 = 0; |
194 | Reading_IntegralGyroRoll = 0; |
194 | Reading_IntegralGyroRoll = 0; |
195 | Reading_IntegralGyroRoll2 = 0; |
195 | Reading_IntegralGyroRoll2 = 0; |
196 | Reading_IntegralGyroYaw = 0; |
196 | Reading_IntegralGyroYaw = 0; |
197 | Reading_GyroPitch = 0; |
197 | Reading_GyroPitch = 0; |
198 | Reading_GyroRoll = 0; |
198 | Reading_GyroRoll = 0; |
199 | Reading_GyroYaw = 0; |
199 | Reading_GyroYaw = 0; |
200 | StartAirPressure = AirPressure; |
200 | StartAirPressure = AirPressure; |
201 | HightD = 0; |
201 | HightD = 0; |
202 | Reading_Integral_Top = 0; |
202 | Reading_Integral_Top = 0; |
203 | CompassCourse = CompassHeading; |
203 | CompassCourse = CompassHeading; |
204 | GPS_Neutral(); |
- | |
205 | BeepTime = 50; |
204 | BeepTime = 50; |
206 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
205 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
207 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
206 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
208 | ExternHightValue = 0; |
207 | ExternHightValue = 0; |
209 | } |
208 | } |
210 | 209 | ||
211 | /************************************************************************/ |
210 | /************************************************************************/ |
212 | /* Averaging Measurement Readings */ |
211 | /* Averaging Measurement Readings */ |
213 | /************************************************************************/ |
212 | /************************************************************************/ |
214 | void Mean(void) |
213 | void Mean(void) |
215 | { |
214 | { |
216 | static int32_t tmpl,tmpl2; |
215 | static int32_t tmpl,tmpl2; |
217 | 216 | ||
218 | // Get offset corrected gyro readings (~ to angular velocity) |
217 | // Get offset corrected gyro readings (~ to angular velocity) |
219 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
218 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
220 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
219 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
221 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
220 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
222 | 221 | ||
223 | DebugOut.Analog[26] = Reading_GyroPitch; |
222 | DebugOut.Analog[26] = Reading_GyroPitch; |
224 | DebugOut.Analog[28] = Reading_GyroRoll; |
223 | DebugOut.Analog[28] = Reading_GyroRoll; |
225 | 224 | ||
226 | // Acceleration Sensor |
225 | // Acceleration Sensor |
227 | // sliding average sensor readings |
226 | // sliding average sensor readings |
228 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
227 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
229 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
228 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
230 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
229 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
231 | 230 | ||
232 | // sum sensor readings for later averaging |
231 | // sum sensor readings for later averaging |
233 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
232 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
234 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
233 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
235 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
234 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
236 | 235 | ||
237 | // Yaw |
236 | // Yaw |
238 | // calculate yaw gyro intergral (~ to rotation angle) |
237 | // calculate yaw gyro intergral (~ to rotation angle) |
239 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
238 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
240 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
239 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
241 | // Coupling fraction |
240 | // Coupling fraction |
242 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
241 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
243 | { |
242 | { |
244 | tmpl = Reading_IntegralGyroPitch / 4096L; |
243 | tmpl = Reading_IntegralGyroPitch / 4096L; |
245 | tmpl *= Reading_GyroYaw; |
244 | tmpl *= Reading_GyroYaw; |
246 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
245 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
247 | tmpl /= 2048L; |
246 | tmpl /= 2048L; |
248 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
247 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
249 | tmpl2 *= Reading_GyroYaw; |
248 | tmpl2 *= Reading_GyroYaw; |
250 | tmpl2 *= FCParam.Yaw_PosFeedback; |
249 | tmpl2 *= FCParam.Yaw_PosFeedback; |
251 | tmpl2 /= 2048L; |
250 | tmpl2 /= 2048L; |
252 | } |
251 | } |
253 | else tmpl = tmpl2 = 0; |
252 | else tmpl = tmpl2 = 0; |
254 | 253 | ||
255 | // Roll |
254 | // Roll |
256 | Reading_GyroRoll += tmpl; |
255 | Reading_GyroRoll += tmpl; |
257 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
256 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
258 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
257 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
259 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
258 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
260 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
259 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
261 | { |
260 | { |
262 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
261 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
263 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
262 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
264 | } |
263 | } |
265 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
264 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
266 | { |
265 | { |
267 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
266 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
268 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
267 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
269 | } |
268 | } |
270 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
269 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
271 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
270 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
272 | if(BoardRelease == 10) |
271 | if(BoardRelease == 10) |
273 | { |
272 | { |
274 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
273 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
275 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
274 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
276 | } |
275 | } |
277 | else |
276 | else |
278 | { |
277 | { |
279 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
278 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
280 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
279 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
281 | } |
280 | } |
282 | // Pitch |
281 | // Pitch |
283 | Reading_GyroPitch -= tmpl2; |
282 | Reading_GyroPitch -= tmpl2; |
284 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
283 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
285 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
284 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
286 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
285 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
287 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
286 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
288 | { |
287 | { |
289 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
288 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
290 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
289 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
291 | } |
290 | } |
292 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
291 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
293 | { |
292 | { |
294 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
293 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
295 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
294 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
296 | } |
295 | } |
297 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
296 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
298 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
297 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
299 | if(BoardRelease == 10) |
298 | if(BoardRelease == 10) |
300 | { |
299 | { |
301 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
300 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
302 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
301 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
303 | } |
302 | } |
304 | else |
303 | else |
305 | { |
304 | { |
306 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
305 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
307 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
306 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
308 | } |
307 | } |
309 | 308 | ||
310 | // start ADC |
309 | // start ADC |
311 | ADC_Enable(); |
310 | ADC_Enable(); |
312 | 311 | ||
313 | IntegralYaw = Reading_IntegralGyroYaw; |
312 | IntegralYaw = Reading_IntegralGyroYaw; |
314 | IntegralPitch = Reading_IntegralGyroPitch; |
313 | IntegralPitch = Reading_IntegralGyroPitch; |
315 | IntegralRoll = Reading_IntegralGyroRoll; |
314 | IntegralRoll = Reading_IntegralGyroRoll; |
316 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
315 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
317 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
316 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
318 | 317 | ||
319 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
318 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
320 | { |
319 | { |
321 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
320 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
322 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
321 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
323 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
322 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
324 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
323 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
325 | } |
324 | } |
326 | //update poti values by rc-signals |
325 | //update poti values by rc-signals |
327 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
326 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
328 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
327 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
329 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
328 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
330 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
329 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
331 | //limit poti values |
330 | //limit poti values |
332 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
331 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
333 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
332 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
334 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
333 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
335 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
334 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
336 | } |
335 | } |
337 | 336 | ||
338 | /************************************************************************/ |
337 | /************************************************************************/ |
339 | /* Averaging Measurement Readings for Calibration */ |
338 | /* Averaging Measurement Readings for Calibration */ |
340 | /************************************************************************/ |
339 | /************************************************************************/ |
341 | void CalibMean(void) |
340 | void CalibMean(void) |
342 | { |
341 | { |
343 | // stop ADC to avoid changing values during calculation |
342 | // stop ADC to avoid changing values during calculation |
344 | ADC_Disable(); |
343 | ADC_Disable(); |
345 | 344 | ||
346 | Reading_GyroPitch = AdValueGyrPitch; |
345 | Reading_GyroPitch = AdValueGyrPitch; |
347 | Reading_GyroRoll = AdValueGyrRoll; |
346 | Reading_GyroRoll = AdValueGyrRoll; |
348 | Reading_GyroYaw = AdValueGyrYaw; |
347 | Reading_GyroYaw = AdValueGyrYaw; |
349 | 348 | ||
350 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
349 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
351 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
350 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
352 | Mean_AccTop = (int32_t)AdValueAccTop; |
351 | Mean_AccTop = (int32_t)AdValueAccTop; |
353 | // start ADC |
352 | // start ADC |
354 | ADC_Enable(); |
353 | ADC_Enable(); |
355 | //update poti values by rc-signals (why not +127?) |
354 | //update poti values by rc-signals (why not +127?) |
356 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
355 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
357 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
356 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
358 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
357 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
359 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
358 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
360 | //limit poti values |
359 | //limit poti values |
361 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
360 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
362 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
361 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
363 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
362 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
364 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
363 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
365 | 364 | ||
366 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
365 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
367 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
366 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
368 | } |
367 | } |
369 | 368 | ||
370 | /************************************************************************/ |
369 | /************************************************************************/ |
371 | /* Transmit Motor Data via I2C */ |
370 | /* Transmit Motor Data via I2C */ |
372 | /************************************************************************/ |
371 | /************************************************************************/ |
373 | void SendMotorData(void) |
372 | void SendMotorData(void) |
374 | { |
373 | { |
375 | if(MOTOR_OFF || !MotorsOn) |
374 | if(MOTOR_OFF || !MotorsOn) |
376 | { |
375 | { |
377 | Motor_Rear = 0; |
376 | Motor_Rear = 0; |
378 | Motor_Front = 0; |
377 | Motor_Front = 0; |
379 | Motor_Right = 0; |
378 | Motor_Right = 0; |
380 | Motor_Left = 0; |
379 | Motor_Left = 0; |
381 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
380 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
382 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
381 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
383 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
382 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
384 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
383 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
385 | } |
384 | } |
386 | 385 | ||
387 | DebugOut.Analog[12] = Motor_Front; |
386 | DebugOut.Analog[12] = Motor_Front; |
388 | DebugOut.Analog[13] = Motor_Rear; |
387 | DebugOut.Analog[13] = Motor_Rear; |
389 | DebugOut.Analog[14] = Motor_Left; |
388 | DebugOut.Analog[14] = Motor_Left; |
390 | DebugOut.Analog[15] = Motor_Right; |
389 | DebugOut.Analog[15] = Motor_Right; |
391 | 390 | ||
392 | //Start I2C Interrupt Mode |
391 | //Start I2C Interrupt Mode |
393 | twi_state = 0; |
392 | twi_state = 0; |
394 | motor = 0; |
393 | motor = 0; |
395 | i2c_start(); |
394 | I2C_Start(); |
396 | } |
395 | } |
397 | 396 | ||
398 | 397 | ||
399 | 398 | ||
400 | /************************************************************************/ |
399 | /************************************************************************/ |
401 | /* Maps the parameter to poti values */ |
400 | /* Maps the parameter to poti values */ |
402 | /************************************************************************/ |
401 | /************************************************************************/ |
403 | void ParameterMapping(void) |
402 | void ParameterMapping(void) |
404 | { |
403 | { |
405 | 404 | ||
406 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
405 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
407 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
406 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
408 | CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
407 | CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
409 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
408 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
410 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
409 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
411 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
410 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
412 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
411 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
413 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
412 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
414 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
413 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
415 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
414 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
416 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
415 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
417 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
416 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
418 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
417 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
419 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
418 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
420 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
419 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
421 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
420 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
422 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
421 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
423 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
422 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
424 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
423 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
425 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
424 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
426 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
425 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
427 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
426 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
428 | 427 | ||
429 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
428 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
430 | } |
429 | } |
431 | 430 | ||
432 | 431 | ||
433 | /************************************************************************/ |
432 | /************************************************************************/ |
434 | /* MotorControl */ |
433 | /* MotorControl */ |
435 | /************************************************************************/ |
434 | /************************************************************************/ |
436 | void MotorControl(void) |
435 | void MotorControl(void) |
437 | { |
436 | { |
438 | int16_t MotorValue, pd_result, h, tmp_int; |
437 | int16_t MotorValue, pd_result, h, tmp_int; |
439 | int16_t YawMixFraction, ThrustMixFraction; |
438 | int16_t YawMixFraction, ThrustMixFraction; |
440 | static int32_t SumPitch = 0, SumRoll = 0; |
439 | static int32_t SumPitch = 0, SumRoll = 0; |
441 | static int32_t SetPointYaw = 0; |
440 | static int32_t SetPointYaw = 0; |
442 | static int32_t IntegralErrorPitch = 0; |
441 | static int32_t IntegralErrorPitch = 0; |
443 | static int32_t IntegralErrorRoll = 0; |
442 | static int32_t IntegralErrorRoll = 0; |
444 | static uint16_t RcLostTimer; |
443 | static uint16_t RcLostTimer; |
445 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
444 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
446 | static uint16_t Modell_Is_Flying = 0; |
445 | static uint16_t Modell_Is_Flying = 0; |
447 | static uint8_t EmergencyLanding = 0; |
446 | static uint8_t EmergencyLanding = 0; |
448 | static uint8_t HightControlActive = 0; |
447 | static uint8_t HightControlActive = 0; |
449 | static int16_t HightControlThrust = 0; |
448 | static int16_t HightControlThrust = 0; |
450 | static int8_t TimerDebugOut = 0; |
449 | static int8_t TimerDebugOut = 0; |
451 | static int8_t StoreNewCompassCourse = 0; |
450 | static int8_t StoreNewCompassCourse = 0; |
452 | static int32_t CorrectionPitch, CorrectionRoll; |
451 | static int32_t CorrectionPitch, CorrectionRoll; |
453 | 452 | ||
454 | Mean(); |
453 | Mean(); |
455 | 454 | ||
456 | GRN_ON; |
455 | GRN_ON; |
457 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
458 | // determine thrust value |
457 | // determine thrust value |
459 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
458 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
460 | ThrustMixFraction = StickThrust; |
459 | ThrustMixFraction = StickThrust; |
461 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
460 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
462 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
461 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
463 | // RC-signal is bad |
462 | // RC-signal is bad |
464 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
463 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
465 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
464 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
466 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
465 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
467 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
466 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
468 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
467 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
469 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
468 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
470 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
469 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
471 | { |
470 | { |
472 | if(!PcAccess) // if also no PC-Access via UART |
471 | if(!PcAccess) // if also no PC-Access via UART |
473 | { |
472 | { |
474 | if(BeepModulation == 0xFFFF) |
473 | if(BeepModulation == 0xFFFF) |
475 | { |
474 | { |
476 | BeepTime = 15000; // 1.5 seconds |
475 | BeepTime = 15000; // 1.5 seconds |
477 | BeepModulation = 0x0C00; |
476 | BeepModulation = 0x0C00; |
478 | } |
477 | } |
479 | } |
478 | } |
480 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
479 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
481 | else // rc lost countdown finished |
480 | else // rc lost countdown finished |
482 | { |
481 | { |
483 | MotorsOn = 0; // stop all motors |
482 | MotorsOn = 0; // stop all motors |
484 | EmergencyLanding = 0; // emergency landing is over |
483 | EmergencyLanding = 0; // emergency landing is over |
485 | } |
484 | } |
486 | ROT_ON; // set red led |
485 | ROT_ON; // set red led |
487 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
486 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
488 | { |
487 | { |
489 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
488 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
490 | EmergencyLanding = 1; // enable emergency landing |
489 | EmergencyLanding = 1; // enable emergency landing |
491 | // set neutral rc inputs |
490 | // set neutral rc inputs |
492 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
491 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
493 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
492 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
494 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
493 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
495 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
494 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
496 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
495 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
497 | } |
496 | } |
498 | else MotorsOn = 0; // switch of all motors |
497 | else MotorsOn = 0; // switch of all motors |
499 | } |
498 | } |
500 | else |
499 | else |
501 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
502 | // RC-signal is good |
501 | // RC-signal is good |
503 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
502 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
504 | if(SenderOkay > 140) |
503 | if(SenderOkay > 140) |
505 | { |
504 | { |
506 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
505 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
507 | // reset emergency timer |
506 | // reset emergency timer |
508 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
507 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
509 | if(ThrustMixFraction > 40) |
508 | if(ThrustMixFraction > 40) |
510 | { |
509 | { |
511 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
510 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
512 | } |
511 | } |
513 | if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
512 | if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
514 | { |
513 | { |
515 | SumPitch = 0; |
514 | SumPitch = 0; |
516 | SumRoll = 0; |
515 | SumRoll = 0; |
517 | Reading_IntegralGyroYaw = 0; |
516 | Reading_IntegralGyroYaw = 0; |
518 | Reading_IntegralGyroYaw2 = 0; |
517 | Reading_IntegralGyroYaw2 = 0; |
519 | } |
518 | } |
520 | // if motors are off and the thrust stick is in the upper position |
519 | // if motors are off and the thrust stick is in the upper position |
521 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
520 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
522 | { |
521 | { |
523 | // and if the yaw stick is in the leftmost position |
522 | // and if the yaw stick is in the leftmost position |
524 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
523 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
525 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
524 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
526 | // calibrate the neutral readings of all attitude sensors |
525 | // calibrate the neutral readings of all attitude sensors |
527 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
526 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
528 | { |
527 | { |
529 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
528 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
530 | { |
529 | { |
531 | delay_neutral = 0; |
530 | delay_neutral = 0; |
532 | GRN_OFF; |
531 | GRN_OFF; |
533 | Modell_Is_Flying = 0; |
532 | Modell_Is_Flying = 0; |
534 | // check roll/pitch stick position |
533 | // check roll/pitch stick position |
535 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
534 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
536 | // according to roll/pitch stick position |
535 | // according to roll/pitch stick position |
537 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
536 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
538 | { |
537 | { |
539 | uint8_t setting = 1; // default |
538 | uint8_t setting = 1; // default |
540 | // _________ |
539 | // _________ |
541 | // |2 3 4| |
540 | // |2 3 4| |
542 | // | | |
541 | // | | |
543 | // |1 5| |
542 | // |1 5| |
544 | // | | |
543 | // | | |
545 | // |_________| |
544 | // |_________| |
546 | // |
545 | // |
547 | // roll stick leftmost and pitch stick centered --> setting 1 |
546 | // roll stick leftmost and pitch stick centered --> setting 1 |
548 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
547 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
549 | // roll stick leftmost and pitch stick topmost --> setting 2 |
548 | // roll stick leftmost and pitch stick topmost --> setting 2 |
550 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
549 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
551 | // roll stick centered an pitch stick topmost --> setting 3 |
550 | // roll stick centered an pitch stick topmost --> setting 3 |
552 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
551 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
553 | // roll stick rightmost and pitch stick topmost --> setting 4 |
552 | // roll stick rightmost and pitch stick topmost --> setting 4 |
554 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
553 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
555 | // roll stick rightmost and pitch stick centered --> setting 5 |
554 | // roll stick rightmost and pitch stick centered --> setting 5 |
556 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
555 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
557 | // update active parameter set in eeprom |
556 | // update active parameter set in eeprom |
558 | SetActiveParamSet(setting); |
557 | SetActiveParamSet(setting); |
559 | } |
558 | } |
560 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
559 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
561 | SetNeutral(); |
560 | SetNeutral(); |
562 | Beep(GetActiveParamSet()); |
561 | Beep(GetActiveParamSet()); |
563 | } |
562 | } |
564 | } |
563 | } |
565 | // and if the yaw stick is in the rightmost position |
564 | // and if the yaw stick is in the rightmost position |
566 | // save the ACC neutral setting to eeprom |
565 | // save the ACC neutral setting to eeprom |
567 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
566 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
568 | { |
567 | { |
569 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
568 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
570 | { |
569 | { |
571 | delay_neutral = 0; |
570 | delay_neutral = 0; |
572 | GRN_OFF; |
571 | GRN_OFF; |
573 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
572 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
574 | Modell_Is_Flying = 0; |
573 | Modell_Is_Flying = 0; |
575 | SetNeutral(); |
574 | SetNeutral(); |
576 | // Save ACC neutral settings to eeprom |
575 | // Save ACC neutral settings to eeprom |
577 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
576 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
578 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
577 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
579 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
578 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
580 | Beep(GetActiveParamSet()); |
579 | Beep(GetActiveParamSet()); |
581 | } |
580 | } |
582 | } |
581 | } |
583 | else delay_neutral = 0; |
582 | else delay_neutral = 0; |
584 | } |
583 | } |
585 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
584 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
586 | // thrust stick is down |
585 | // thrust stick is down |
587 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
586 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
588 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
587 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
589 | { |
588 | { |
590 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
591 | // and yaw stick is rightmost --> start motors |
590 | // and yaw stick is rightmost --> start motors |
592 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
593 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
592 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
594 | { |
593 | { |
595 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
594 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
596 | { |
595 | { |
597 | delay_startmotors = 200; // do not repeat if once executed |
596 | delay_startmotors = 200; // do not repeat if once executed |
598 | Modell_Is_Flying = 1; |
597 | Modell_Is_Flying = 1; |
599 | MotorsOn = 1; |
598 | MotorsOn = 1; |
600 | SetPointYaw = 0; |
599 | SetPointYaw = 0; |
601 | Reading_IntegralGyroYaw = 0; |
600 | Reading_IntegralGyroYaw = 0; |
602 | Reading_IntegralGyroYaw2 = 0; |
601 | Reading_IntegralGyroYaw2 = 0; |
603 | Reading_IntegralGyroPitch = 0; |
602 | Reading_IntegralGyroPitch = 0; |
604 | Reading_IntegralGyroRoll = 0; |
603 | Reading_IntegralGyroRoll = 0; |
605 | Reading_IntegralGyroPitch2 = IntegralPitch; |
604 | Reading_IntegralGyroPitch2 = IntegralPitch; |
606 | Reading_IntegralGyroRoll2 = IntegralRoll; |
605 | Reading_IntegralGyroRoll2 = IntegralRoll; |
607 | SumPitch = 0; |
606 | SumPitch = 0; |
608 | SumRoll = 0; |
607 | SumRoll = 0; |
609 | } |
608 | } |
610 | } |
609 | } |
611 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
610 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
612 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
611 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
613 | // and yaw stick is leftmost --> stop motors |
612 | // and yaw stick is leftmost --> stop motors |
614 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
615 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
614 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
616 | { |
615 | { |
617 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
616 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
618 | { |
617 | { |
619 | delay_stopmotors = 200; // do not repeat if once executed |
618 | delay_stopmotors = 200; // do not repeat if once executed |
620 | Modell_Is_Flying = 0; |
619 | Modell_Is_Flying = 0; |
621 | MotorsOn = 0; |
620 | MotorsOn = 0; |
622 | 621 | ||
623 | } |
622 | } |
624 | } |
623 | } |
625 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
624 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
626 | } |
625 | } |
627 | } |
626 | } |
628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
627 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
629 | // new values from RC |
628 | // new values from RC |
630 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
631 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
630 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
632 | { |
631 | { |
633 | int tmp_int; |
632 | int tmp_int; |
634 | ParameterMapping(); // remapping params (online poti replacement) |
633 | ParameterMapping(); // remapping params (online poti replacement) |
635 | 634 | ||
636 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
635 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
637 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
636 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
638 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
637 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
639 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
638 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
640 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
639 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
641 | 640 | ||
642 | // direct mapping of yaw and thrust |
641 | // direct mapping of yaw and thrust |
643 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
642 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
644 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
643 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
645 | 644 | ||
646 | // update max stick positions for pitch, roll and yaw |
645 | // update max stick positions for pitch, roll and yaw |
647 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
646 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
648 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
647 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
649 | else MaxStickPitch--; |
648 | else MaxStickPitch--; |
650 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
649 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
651 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
650 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
652 | else MaxStickRoll--; |
651 | else MaxStickRoll--; |
653 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
652 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
654 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
653 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
655 | else MaxStickYaw--; |
654 | else MaxStickYaw--; |
656 | 655 | ||
657 | // update gyro control loop factors |
656 | // update gyro control loop factors |
658 | 657 | ||
659 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
658 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
660 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
659 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
661 | 660 | ||
662 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | // Digital Control via DubWise |
662 | // Digital Control via DubWise |
664 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | 664 | ||
666 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
665 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
667 | if(DubWiseKeys[1]) BeepTime = 10; |
666 | if(DubWiseKeys[1]) BeepTime = 10; |
668 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
667 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
669 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
668 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
670 | else tmp_int = 0; |
669 | else tmp_int = 0; |
671 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
670 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
672 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
671 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
673 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
672 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
674 | else tmp_int = 0; |
673 | else tmp_int = 0; |
675 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
674 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
676 | 675 | ||
677 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
676 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
678 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
677 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
679 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
678 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
680 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
679 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
681 | 680 | ||
682 | StickPitch += ExternStickPitch / 8; |
681 | StickPitch += ExternStickPitch / 8; |
683 | StickRoll += ExternStickRoll / 8; |
682 | StickRoll += ExternStickRoll / 8; |
684 | StickYaw += ExternStickYaw; |
683 | StickYaw += ExternStickYaw; |
685 | 684 | ||
686 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | //+ Analoge Control via serial communication |
686 | //+ Analoge Control via serial communication |
688 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | 688 | ||
690 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
689 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
691 | { |
690 | { |
692 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
691 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
693 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
692 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
694 | StickYaw += ExternControl.Yaw; |
693 | StickYaw += ExternControl.Yaw; |
695 | ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
694 | ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
696 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
695 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
697 | } |
696 | } |
698 | // disable I part of gyro control feedback |
697 | // disable I part of gyro control feedback |
699 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
698 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
700 | // avoid negative scaling factors |
699 | // avoid negative scaling factors |
701 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
700 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
702 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
701 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
703 | 702 | ||
704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
703 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
705 | // Looping? |
704 | // Looping? |
706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
705 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | 706 | ||
708 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
707 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
709 | else |
708 | else |
710 | { |
709 | { |
711 | { |
710 | { |
712 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
711 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
713 | } |
712 | } |
714 | } |
713 | } |
715 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
714 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
716 | else |
715 | else |
717 | { |
716 | { |
718 | if(Looping_Right) // Hysterese |
717 | if(Looping_Right) // Hysterese |
719 | { |
718 | { |
720 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
719 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
721 | } |
720 | } |
722 | } |
721 | } |
723 | 722 | ||
724 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
723 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
725 | else |
724 | else |
726 | { |
725 | { |
727 | if(Looping_Top) // Hysterese |
726 | if(Looping_Top) // Hysterese |
728 | { |
727 | { |
729 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
728 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
730 | } |
729 | } |
731 | } |
730 | } |
732 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
731 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
733 | else |
732 | else |
734 | { |
733 | { |
735 | if(Looping_Down) // Hysterese |
734 | if(Looping_Down) // Hysterese |
736 | { |
735 | { |
737 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
736 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
738 | } |
737 | } |
739 | } |
738 | } |
740 | 739 | ||
741 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
740 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
742 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
741 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
743 | } // End of new RC-Values or Emergency Landing |
742 | } // End of new RC-Values or Emergency Landing |
744 | 743 | ||
745 | 744 | ||
746 | if(Looping_Roll) BeepTime = 100; |
745 | if(Looping_Roll) BeepTime = 100; |
747 | if(Looping_Roll || Looping_Pitch) |
746 | if(Looping_Roll || Looping_Pitch) |
748 | { |
747 | { |
749 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
748 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
750 | } |
749 | } |
751 | 750 | ||
752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
753 | // in case of emergency landing |
752 | // in case of emergency landing |
754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
755 | // set all inputs to save values |
754 | // set all inputs to save values |
756 | if(EmergencyLanding) |
755 | if(EmergencyLanding) |
757 | { |
756 | { |
758 | StickYaw = 0; |
757 | StickYaw = 0; |
759 | StickPitch = 0; |
758 | StickPitch = 0; |
760 | StickRoll = 0; |
759 | StickRoll = 0; |
761 | Gyro_P_Factor = 0.5; |
760 | Gyro_P_Factor = 0.5; |
762 | Gyro_I_Factor = 0.003; |
761 | Gyro_I_Factor = 0.003; |
763 | Looping_Roll = 0; |
762 | Looping_Roll = 0; |
764 | Looping_Pitch = 0; |
763 | Looping_Pitch = 0; |
765 | MaxStickPitch = 0; |
764 | MaxStickPitch = 0; |
766 | MaxStickRoll = 0; |
765 | MaxStickRoll = 0; |
767 | MaxStickYaw = 0; |
766 | MaxStickYaw = 0; |
768 | } |
767 | } |
769 | 768 | ||
770 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
769 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
771 | // Trim Gyro-Integrals to ACC-Signals |
770 | // Trim Gyro-Integrals to ACC-Signals |
772 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
771 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
773 | 772 | ||
774 | #define BALANCE_NUMBER 256L |
773 | #define BALANCE_NUMBER 256L |
775 | // sum for averaging |
774 | // sum for averaging |
776 | MeanIntegralPitch += IntegralPitch; |
775 | MeanIntegralPitch += IntegralPitch; |
777 | MeanIntegralRoll += IntegralRoll; |
776 | MeanIntegralRoll += IntegralRoll; |
778 | 777 | ||
779 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
778 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
780 | { |
779 | { |
781 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
780 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
782 | MeasurementCounter = 0; |
781 | MeasurementCounter = 0; |
783 | 782 | ||
784 | IntegralAccPitch = 0; |
783 | IntegralAccPitch = 0; |
785 | IntegralAccRoll = 0; |
784 | IntegralAccRoll = 0; |
786 | IntegralAccZ = 0; |
785 | IntegralAccZ = 0; |
787 | 786 | ||
788 | MeanIntegralPitch = 0; |
787 | MeanIntegralPitch = 0; |
789 | MeanIntegralRoll = 0; |
788 | MeanIntegralRoll = 0; |
790 | 789 | ||
791 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
790 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
792 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
791 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
793 | 792 | ||
794 | AttitudeCorrectionPitch = 0; |
793 | AttitudeCorrectionPitch = 0; |
795 | AttitudeCorrectionRoll = 0; |
794 | AttitudeCorrectionRoll = 0; |
796 | } |
795 | } |
797 | 796 | ||
798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
797 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
799 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
798 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
800 | { |
799 | { |
801 | int32_t tmp_long, tmp_long2; |
800 | int32_t tmp_long, tmp_long2; |
802 | // determine the deviation of gyro integral from averaged acceleration sensor |
801 | // determine the deviation of gyro integral from averaged acceleration sensor |
803 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
802 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
804 | tmp_long /= 16; |
803 | tmp_long /= 16; |
805 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
804 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
806 | tmp_long2 /= 16; |
805 | tmp_long2 /= 16; |
807 | 806 | ||
808 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
807 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
809 | { |
808 | { |
810 | tmp_long /= 3; |
809 | tmp_long /= 3; |
811 | tmp_long2 /= 3; |
810 | tmp_long2 /= 3; |
812 | } |
811 | } |
813 | if(MaxStickYaw > 25) |
812 | if(MaxStickYaw > 25) |
814 | { |
813 | { |
815 | tmp_long /= 3; |
814 | tmp_long /= 3; |
816 | tmp_long2 /= 3; |
815 | tmp_long2 /= 3; |
817 | } |
816 | } |
818 | 817 | ||
819 | #define BALANCE 32 |
818 | #define BALANCE 32 |
820 | // limit correction |
819 | // limit correction |
821 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
820 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
822 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
821 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
823 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
822 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
824 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
823 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
825 | // correct current readings |
824 | // correct current readings |
826 | Reading_IntegralGyroPitch -= tmp_long; |
825 | Reading_IntegralGyroPitch -= tmp_long; |
827 | Reading_IntegralGyroRoll -= tmp_long2; |
826 | Reading_IntegralGyroRoll -= tmp_long2; |
828 | } |
827 | } |
829 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
828 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
830 | // MeasurementCounter is incremented in the isr of analog.c |
829 | // MeasurementCounter is incremented in the isr of analog.c |
831 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
830 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
832 | { |
831 | { |
833 | static int cnt = 0; |
832 | static int cnt = 0; |
834 | static char last_n_p, last_n_n, last_r_p, last_r_n; |
833 | static char last_n_p, last_n_n, last_r_p, last_r_n; |
835 | static long MeanIntegralPitch_old, MeanIntegralRoll_old; |
834 | static long MeanIntegralPitch_old, MeanIntegralRoll_old; |
836 | 835 | ||
837 | // if not lopping in any direction (this should be alwais the case, |
836 | // if not lopping in any direction (this should be alwais the case, |
838 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
837 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
839 | if(!Looping_Pitch && !Looping_Roll) |
838 | if(!Looping_Pitch && !Looping_Roll) |
840 | { |
839 | { |
841 | // Calculate mean value of the gyro integrals |
840 | // Calculate mean value of the gyro integrals |
842 | MeanIntegralPitch /= BALANCE_NUMBER; |
841 | MeanIntegralPitch /= BALANCE_NUMBER; |
843 | MeanIntegralRoll /= BALANCE_NUMBER; |
842 | MeanIntegralRoll /= BALANCE_NUMBER; |
844 | 843 | ||
845 | // Calculate mean of the acceleration values |
844 | // Calculate mean of the acceleration values |
846 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
845 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
847 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
846 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
848 | IntegralAccZ = IntegralAccZ / BALANCE_NUMBER; |
847 | IntegralAccZ = IntegralAccZ / BALANCE_NUMBER; |
849 | 848 | ||
850 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
850 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
852 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
851 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
853 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
852 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
854 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
853 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
855 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
856 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
855 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
857 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
856 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
858 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
857 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
859 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
858 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
860 | 859 | ||
861 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
860 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
862 | { |
861 | { |
863 | AttitudeCorrectionPitch /= 2; |
862 | AttitudeCorrectionPitch /= 2; |
864 | AttitudeCorrectionRoll /= 2; |
863 | AttitudeCorrectionRoll /= 2; |
865 | } |
864 | } |
866 | 865 | ||
867 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
866 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
868 | // Gyro-Drift ermitteln |
867 | // Gyro-Drift ermitteln |
869 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
870 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
869 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
871 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
870 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
872 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
871 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
873 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
872 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
874 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
873 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
875 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
874 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
876 | 875 | ||
877 | 876 | ||
878 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
877 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
879 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
878 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
880 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
879 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
881 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
880 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
882 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
881 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
883 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
882 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
884 | //DebugOut.Analog[28] = CorrectionPitch; |
883 | //DebugOut.Analog[28] = CorrectionPitch; |
885 | DebugOut.Analog[29] = CorrectionRoll; |
884 | DebugOut.Analog[29] = CorrectionRoll; |
886 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
885 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
887 | 886 | ||
888 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
887 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
889 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
888 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
890 | #define MOVEMENT_LIMIT 20000 |
889 | #define MOVEMENT_LIMIT 20000 |
891 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
890 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
892 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
891 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
893 | CorrectionPitch = 0; |
892 | CorrectionPitch = 0; |
894 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
893 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
895 | { |
894 | { |
896 | if(IntegralErrorPitch > ERROR_LIMIT2) |
895 | if(IntegralErrorPitch > ERROR_LIMIT2) |
897 | { |
896 | { |
898 | if(last_n_p) |
897 | if(last_n_p) |
899 | { |
898 | { |
900 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
899 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
901 | CorrectionPitch = IntegralErrorPitch / 8; |
900 | CorrectionPitch = IntegralErrorPitch / 8; |
902 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
901 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
903 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
902 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
904 | } |
903 | } |
905 | else last_n_p = 1; |
904 | else last_n_p = 1; |
906 | } |
905 | } |
907 | else last_n_p = 0; |
906 | else last_n_p = 0; |
908 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
907 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
909 | { |
908 | { |
910 | if(last_n_n) |
909 | if(last_n_n) |
911 | { |
910 | { |
912 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
911 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
913 | CorrectionPitch = IntegralErrorPitch / 8; |
912 | CorrectionPitch = IntegralErrorPitch / 8; |
914 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
913 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
915 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
914 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
916 | } |
915 | } |
917 | else last_n_n = 1; |
916 | else last_n_n = 1; |
918 | } |
917 | } |
919 | else last_n_n = 0; |
918 | else last_n_n = 0; |
920 | } |
919 | } |
921 | else cnt = 0; |
920 | else cnt = 0; |
922 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
921 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
923 | // correct Gyro Offsets |
922 | // correct Gyro Offsets |
924 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
923 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
925 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
924 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
926 | 925 | ||
927 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
926 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
928 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
927 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
929 | CorrectionRoll = 0; |
928 | CorrectionRoll = 0; |
930 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
929 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
931 | { |
930 | { |
932 | if(IntegralErrorRoll > ERROR_LIMIT2) |
931 | if(IntegralErrorRoll > ERROR_LIMIT2) |
933 | { |
932 | { |
934 | if(last_r_p) |
933 | if(last_r_p) |
935 | { |
934 | { |
936 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
935 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
937 | CorrectionRoll = IntegralErrorRoll / 8; |
936 | CorrectionRoll = IntegralErrorRoll / 8; |
938 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
937 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
939 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
938 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
940 | } |
939 | } |
941 | else last_r_p = 1; |
940 | else last_r_p = 1; |
942 | } |
941 | } |
943 | else last_r_p = 0; |
942 | else last_r_p = 0; |
944 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
943 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
945 | { |
944 | { |
946 | if(last_r_n) |
945 | if(last_r_n) |
947 | { |
946 | { |
948 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
947 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
949 | CorrectionRoll = IntegralErrorRoll / 8; |
948 | CorrectionRoll = IntegralErrorRoll / 8; |
950 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
949 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
951 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
950 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
952 | } |
951 | } |
953 | else last_r_n = 1; |
952 | else last_r_n = 1; |
954 | } |
953 | } |
955 | else last_r_n = 0; |
954 | else last_r_n = 0; |
956 | } |
955 | } |
957 | else cnt = 0; |
956 | else cnt = 0; |
958 | // correct Gyro Offsets |
957 | // correct Gyro Offsets |
959 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
958 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
960 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
959 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
961 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
960 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
962 | 961 | ||
963 | DebugOut.Analog[27] = CorrectionRoll; |
962 | DebugOut.Analog[27] = CorrectionRoll; |
964 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
963 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
965 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
964 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
966 | } |
965 | } |
967 | else // looping is active |
966 | else // looping is active |
968 | { |
967 | { |
969 | AttitudeCorrectionRoll = 0; |
968 | AttitudeCorrectionRoll = 0; |
970 | AttitudeCorrectionPitch = 0; |
969 | AttitudeCorrectionPitch = 0; |
971 | } |
970 | } |
972 | 971 | ||
973 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
972 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
974 | if(!Gyro_I_Factor) |
973 | if(!Gyro_I_Factor) |
975 | { |
974 | { |
976 | AttitudeCorrectionRoll = 0; |
975 | AttitudeCorrectionRoll = 0; |
977 | AttitudeCorrectionPitch = 0; |
976 | AttitudeCorrectionPitch = 0; |
978 | } |
977 | } |
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | MeanIntegralPitch_old = MeanIntegralPitch; |
979 | MeanIntegralPitch_old = MeanIntegralPitch; |
981 | MeanIntegralRoll_old = MeanIntegralRoll; |
980 | MeanIntegralRoll_old = MeanIntegralRoll; |
982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
981 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
983 | // reset variables used for averaging |
982 | // reset variables used for averaging |
984 | IntegralAccPitch = 0; |
983 | IntegralAccPitch = 0; |
985 | IntegralAccRoll = 0; |
984 | IntegralAccRoll = 0; |
986 | IntegralAccZ = 0; |
985 | IntegralAccZ = 0; |
987 | MeanIntegralPitch = 0; |
986 | MeanIntegralPitch = 0; |
988 | MeanIntegralRoll = 0; |
987 | MeanIntegralRoll = 0; |
989 | MeasurementCounter = 0; |
988 | MeasurementCounter = 0; |
990 | } // end of averaging |
989 | } // end of averaging |
991 | 990 | ||
992 | 991 | ||
993 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
992 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
994 | // Yawing |
993 | // Yawing |
995 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
994 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | if(MaxStickYaw > 20) // yaw stick is activated |
995 | if(MaxStickYaw > 20) // yaw stick is activated |
997 | { // if not fixed compass course is set update compass course |
996 | { // if not fixed compass course is set update compass course |
998 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
997 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
999 | } |
998 | } |
1000 | // exponential stick sensitivity in yawring rate |
999 | // exponential stick sensitivity in yawring rate |
1001 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1000 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1002 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1001 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1003 | SetPointYaw = tmp_int; |
1002 | SetPointYaw = tmp_int; |
1004 | Reading_IntegralGyroYaw -= tmp_int; |
1003 | Reading_IntegralGyroYaw -= tmp_int; |
1005 | // limit the effect |
1004 | // limit the effect |
1006 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1005 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1007 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1006 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1008 | 1007 | ||
1009 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1008 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1010 | // Compass |
1009 | // Compass |
1011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1010 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1012 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1011 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1013 | { |
1012 | { |
1014 | int16_t w,v; |
1013 | int16_t w,v; |
1015 | static uint8_t updCompass = 0; |
1014 | static uint8_t updCompass = 0; |
1016 | 1015 | ||
1017 | if (!updCompass--) |
1016 | if (!updCompass--) |
1018 | { |
1017 | { |
1019 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1018 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1020 | // get current compass heading (angule between MK head and magnetic north) |
1019 | // get current compass heading (angule between MK head and magnetic north) |
1021 | CompassHeading = MM3_heading(); |
1020 | CompassHeading = MM3_Heading(); |
1022 | // calculate OffCourse (angular deviation from heading to course) |
1021 | // calculate OffCourse (angular deviation from heading to course) |
1023 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1022 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1024 | 1023 | ||
1025 | } |
1024 | } |
1026 | 1025 | ||
1027 | // reduce compass effect with increasing declination |
1026 | // reduce compass effect with increasing declination |
1028 | w = abs(IntegralPitch / 512); |
1027 | w = abs(IntegralPitch / 512); |
1029 | v = abs(IntegralRoll / 512); |
1028 | v = abs(IntegralRoll / 512); |
1030 | if(v > w) w = v; // get maximum declination |
1029 | if(v > w) w = v; // get maximum declination |
1031 | // if declination is small enough update compass course if neccessary |
1030 | // if declination is small enough update compass course if neccessary |
1032 | if(w < 35 && StoreNewCompassCourse) |
1031 | if(w < 35 && StoreNewCompassCourse) |
1033 | { |
1032 | { |
1034 | CompassCourse = CompassHeading; |
1033 | CompassCourse = CompassHeading; |
1035 | StoreNewCompassCourse = 0; |
1034 | StoreNewCompassCourse = 0; |
1036 | } |
1035 | } |
1037 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1036 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1038 | w = FCParam.CompassYawEffect - w; // reduce commpass effect with increasing declination |
1037 | w = FCParam.CompassYawEffect - w; // reduce commpass effect with increasing declination |
1039 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1038 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1040 | { |
1039 | { |
1041 | Reading_IntegralGyroYaw -= (CompassOffCourse * w) / 32; |
1040 | Reading_IntegralGyroYaw -= (CompassOffCourse * w) / 32; |
1042 | } |
1041 | } |
1043 | } |
1042 | } |
1044 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1043 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 1044 | // GPS |
|
- | 1045 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 1046 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
|
- | 1047 | { |
|
- | 1048 | GPS_P_Factor = FCParam.UserParam5; |
|
- | 1049 | GPS_D_Factor = FCParam.UserParam6; |
|
- | 1050 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
|
- | 1051 | } |
|
- | 1052 | else |
|
- | 1053 | { |
|
- | 1054 | GPS_Pitch = 0; |
|
- | 1055 | GPS_Roll = 0; |
|
- | 1056 | } |
|
- | 1057 | ||
- | 1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
1045 | // Debugwerte zuordnen |
1059 | // Debugwerte zuordnen |
1046 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1047 | if(!TimerDebugOut--) |
1061 | if(!TimerDebugOut--) |
1048 | { |
1062 | { |
1049 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1063 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1050 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1064 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1051 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1065 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1052 | DebugOut.Analog[2] = Mean_AccPitch; |
1066 | DebugOut.Analog[2] = Mean_AccPitch; |
1053 | DebugOut.Analog[3] = Mean_AccRoll; |
1067 | DebugOut.Analog[3] = Mean_AccRoll; |
1054 | DebugOut.Analog[4] = Reading_GyroYaw; |
1068 | DebugOut.Analog[4] = Reading_GyroYaw; |
1055 | DebugOut.Analog[5] = ReadingHight; |
1069 | DebugOut.Analog[5] = ReadingHight; |
1056 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1070 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1057 | DebugOut.Analog[8] = CompassHeading; |
1071 | DebugOut.Analog[8] = CompassHeading; |
1058 | DebugOut.Analog[9] = UBat; |
1072 | DebugOut.Analog[9] = UBat; |
1059 | DebugOut.Analog[10] = SenderOkay; |
1073 | DebugOut.Analog[10] = SenderOkay; |
1060 | DebugOut.Analog[16] = Mean_AccTop; |
1074 | DebugOut.Analog[16] = Mean_AccTop; |
1061 | 1075 | ||
1062 | /* DebugOut.Analog[16] = motor_rx[0]; |
1076 | /* DebugOut.Analog[16] = motor_rx[0]; |
1063 | DebugOut.Analog[17] = motor_rx[1]; |
1077 | DebugOut.Analog[17] = motor_rx[1]; |
1064 | DebugOut.Analog[18] = motor_rx[2]; |
1078 | DebugOut.Analog[18] = motor_rx[2]; |
1065 | DebugOut.Analog[19] = motor_rx[3]; |
1079 | DebugOut.Analog[19] = motor_rx[3]; |
1066 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1080 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1067 | DebugOut.Analog[20] /= 14; |
1081 | DebugOut.Analog[20] /= 14; |
1068 | DebugOut.Analog[21] = motor_rx[4]; |
1082 | DebugOut.Analog[21] = motor_rx[4]; |
1069 | DebugOut.Analog[22] = motor_rx[5]; |
1083 | DebugOut.Analog[22] = motor_rx[5]; |
1070 | DebugOut.Analog[23] = motor_rx[6]; |
1084 | DebugOut.Analog[23] = motor_rx[6]; |
1071 | DebugOut.Analog[24] = motor_rx[7]; |
1085 | DebugOut.Analog[24] = motor_rx[7]; |
1072 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1086 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1073 | 1087 | ||
1074 | DebugOut.Analog[9] = Reading_GyroPitch; |
1088 | DebugOut.Analog[9] = Reading_GyroPitch; |
1075 | DebugOut.Analog[9] = SetPointHight; |
1089 | DebugOut.Analog[9] = SetPointHight; |
1076 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1090 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1077 | DebugOut.Analog[11] = CompassCourse; |
1091 | DebugOut.Analog[11] = CompassCourse; |
1078 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1092 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1079 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1093 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1080 | DebugOut.Analog[9] = CompassOffCourse; |
1094 | DebugOut.Analog[9] = CompassOffCourse; |
1081 | DebugOut.Analog[10] = ThrustMixFraction; |
1095 | DebugOut.Analog[10] = ThrustMixFraction; |
1082 | DebugOut.Analog[3] = HightD * 32; |
1096 | DebugOut.Analog[3] = HightD * 32; |
1083 | DebugOut.Analog[4] = HightControlThrust; |
1097 | DebugOut.Analog[4] = HightControlThrust; |
1084 | */ |
1098 | */ |
1085 | } |
1099 | } |
1086 | 1100 | ||
1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1088 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1102 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1090 | 1104 | ||
1091 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1105 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1092 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1106 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1093 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1107 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1094 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1108 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1095 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1109 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1096 | 1110 | ||
1097 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1111 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1098 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1112 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1099 | DebugOut.Analog[28] = Reading_GyroRoll; |
1113 | DebugOut.Analog[28] = Reading_GyroRoll; |
1100 | 1114 | ||
1101 | // limit control feedback |
1115 | // limit control feedback |
1102 | #define MAX_SENSOR 2048 |
1116 | #define MAX_SENSOR 2048 |
1103 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1117 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1104 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1118 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1105 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1119 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1106 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1120 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1107 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1121 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1108 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1122 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1109 | 1123 | ||
1110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1124 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1111 | // Hight Control |
1125 | // Hight Control |
1112 | // The higth control algorithm reduces the thrust but does not increas the thrust. |
1126 | // The higth control algorithm reduces the thrust but does not increas the thrust. |
1113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1127 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1114 | // If hight control is activated and no emergency landing is activre |
1128 | // If hight control is activated and no emergency landing is activre |
1115 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1129 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1116 | { |
1130 | { |
1117 | int tmp_int; |
1131 | int tmp_int; |
1118 | // if hight control is activated by an rc channel |
1132 | // if hight control is activated by an rc channel |
1119 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1133 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1120 | { // check if parameter is less than activation threshold |
1134 | { // check if parameter is less than activation threshold |
1121 | if(FCParam.MaxHight < 50) |
1135 | if(FCParam.MaxHight < 50) |
1122 | { |
1136 | { |
1123 | SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
1137 | SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
1124 | HightControlActive = 0; // disable hight control |
1138 | HightControlActive = 0; // disable hight control |
1125 | } |
1139 | } |
1126 | else HightControlActive = 1; // enable hight control |
1140 | else HightControlActive = 1; // enable hight control |
1127 | } |
1141 | } |
1128 | else // no switchable hight control |
1142 | else // no switchable hight control |
1129 | { |
1143 | { |
1130 | SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
1144 | SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
1131 | HightControlActive = 1; |
1145 | HightControlActive = 1; |
1132 | } |
1146 | } |
1133 | // get current hight |
1147 | // get current hight |
1134 | h = ReadingHight; |
1148 | h = ReadingHight; |
1135 | // if current hight is above the setpoint reduce thrust |
1149 | // if current hight is above the setpoint reduce thrust |
1136 | if((h > SetPointHight) && HightControlActive) |
1150 | if((h > SetPointHight) && HightControlActive) |
1137 | { |
1151 | { |
1138 | // hight difference -> P control part |
1152 | // hight difference -> P control part |
1139 | h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
1153 | h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
1140 | h = ThrustMixFraction - h; // reduce gas |
1154 | h = ThrustMixFraction - h; // reduce gas |
1141 | // higth gradient --> D control part |
1155 | // higth gradient --> D control part |
1142 | h -= (HightD * FCParam.Hight_D) / 8; // D control part |
1156 | h -= (HightD * FCParam.Hight_D) / 8; // D control part |
1143 | // acceleration sensor effect |
1157 | // acceleration sensor effect |
1144 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
1158 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
1145 | if(tmp_int > 50) tmp_int = 50; |
1159 | if(tmp_int > 50) tmp_int = 50; |
1146 | if(tmp_int < -50) tmp_int = -50; |
1160 | if(tmp_int < -50) tmp_int = -50; |
1147 | h -= tmp_int; |
1161 | h -= tmp_int; |
1148 | // update hight control thrust |
1162 | // update hight control thrust |
1149 | HightControlThrust = (HightControlThrust*15 + h) / 16; |
1163 | HightControlThrust = (HightControlThrust*15 + h) / 16; |
1150 | // limit thrust reduction |
1164 | // limit thrust reduction |
1151 | if(HightControlThrust < ParamSet.Hight_MinThrust) |
1165 | if(HightControlThrust < ParamSet.Hight_MinThrust) |
1152 | { |
1166 | { |
1153 | if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
1167 | if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
1154 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1168 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1155 | if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
1169 | if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
1156 | } |
1170 | } |
1157 | // limit thrust to stick setting |
1171 | // limit thrust to stick setting |
1158 | if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
1172 | if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
1159 | ThrustMixFraction = HightControlThrust; |
1173 | ThrustMixFraction = HightControlThrust; |
1160 | } |
1174 | } |
1161 | } |
1175 | } |
1162 | // limit thrust to parameter setting |
1176 | // limit thrust to parameter setting |
1163 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1177 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1165 | // + Mixer and PI-Controller |
1179 | // + Mixer and PI-Controller |
1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | DebugOut.Analog[7] = ThrustMixFraction; |
1181 | DebugOut.Analog[7] = ThrustMixFraction; |
1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1169 | // Yaw-Fraction |
1183 | // Yaw-Fraction |
1170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1171 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1185 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1172 | 1186 | ||
1173 | // limit YawMixFraction |
1187 | // limit YawMixFraction |
1174 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1188 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1175 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1189 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1176 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1190 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1177 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1191 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1178 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1192 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1179 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1193 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | // Pitch-Axis |
1194 | // Pitch-Axis |
1181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1182 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1196 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1183 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1197 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1184 | else SumPitch += DiffPitch; // I-part for head holding |
1198 | else SumPitch += DiffPitch; // I-part for head holding |
1185 | if(SumPitch > 16000) SumPitch = 16000; |
1199 | if(SumPitch > 16000) SumPitch = 16000; |
1186 | if(SumPitch < -16000) SumPitch = -16000; |
1200 | if(SumPitch < -16000) SumPitch = -16000; |
1187 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1201 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1188 | 1202 | ||
1189 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1203 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1190 | if(pd_result > tmp_int) pd_result = tmp_int; |
1204 | if(pd_result > tmp_int) pd_result = tmp_int; |
1191 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1205 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1192 | 1206 | ||
1193 | // Motor Front |
1207 | // Motor Front |
1194 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1208 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1195 | if ((MotorValue < 0)) MotorValue = 0; |
1209 | if ((MotorValue < 0)) MotorValue = 0; |
1196 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1210 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1197 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1211 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1198 | Motor_Front = MotorValue; |
1212 | Motor_Front = MotorValue; |
1199 | 1213 | ||
1200 | // Motor Rear |
1214 | // Motor Rear |
1201 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1215 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1202 | if ((MotorValue < 0)) MotorValue = 0; |
1216 | if ((MotorValue < 0)) MotorValue = 0; |
1203 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1217 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1204 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1218 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1205 | Motor_Rear = MotorValue; |
1219 | Motor_Rear = MotorValue; |
1206 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1220 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1207 | // Roll-Axis |
1221 | // Roll-Axis |
1208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1209 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1223 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1210 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1224 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1211 | else SumRoll += DiffRoll; // I-part for head holding |
1225 | else SumRoll += DiffRoll; // I-part for head holding |
1212 | if(SumRoll > 16000) SumRoll = 16000; |
1226 | if(SumRoll > 16000) SumRoll = 16000; |
1213 | if(SumRoll < -16000) SumRoll = -16000; |
1227 | if(SumRoll < -16000) SumRoll = -16000; |
1214 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1228 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1215 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1229 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1216 | if(pd_result > tmp_int) pd_result = tmp_int; |
1230 | if(pd_result > tmp_int) pd_result = tmp_int; |
1217 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1231 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1218 | 1232 | ||
1219 | // Motor Left |
1233 | // Motor Left |
1220 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1234 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1221 | if ((MotorValue < 0)) MotorValue = 0; |
1235 | if ((MotorValue < 0)) MotorValue = 0; |
1222 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1236 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1223 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1237 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1224 | Motor_Left = MotorValue; |
1238 | Motor_Left = MotorValue; |
1225 | 1239 | ||
1226 | // Motor Right |
1240 | // Motor Right |
1227 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1241 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1228 | if ((MotorValue < 0)) MotorValue = 0; |
1242 | if ((MotorValue < 0)) MotorValue = 0; |
1229 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1243 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1230 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1244 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1231 | Motor_Right = MotorValue; |
1245 | Motor_Right = MotorValue; |
1232 | } |
1246 | } |
1233 | 1247 | ||
1234 | 1248 |