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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 | #ifdef USE_MM3 |
67 | #ifdef USE_MM3 |
68 | #include "mm3.h" |
68 | #include "mm3.h" |
69 | #endif |
69 | #endif |
70 | #ifdef USE_CMPS03 |
70 | #ifdef USE_CMPS03 |
71 | #include "cmps03.h" |
71 | #include "cmps03.h" |
72 | #endif |
72 | #endif |
73 | 73 | ||
74 | volatile uint16_t I2CTimeout = 100; |
74 | volatile uint16_t I2CTimeout = 100; |
75 | // gyro readings |
75 | // gyro readings |
76 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
76 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
77 | // gyro neutral readings |
77 | // gyro neutral readings |
78 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
78 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
79 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
79 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
80 | // mean accelerations |
80 | // mean accelerations |
81 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
81 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
82 | 82 | ||
83 | // neutral acceleration readings |
83 | // neutral acceleration readings |
84 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
84 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
85 | volatile float NeutralAccZ = 0; |
85 | volatile float NeutralAccZ = 0; |
86 | 86 | ||
87 | // attitude gyro integrals |
87 | // attitude gyro integrals |
88 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
88 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
89 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
89 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
90 | volatile int32_t IntegralYaw = 0; |
90 | volatile int32_t IntegralYaw = 0; |
91 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
91 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
92 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
92 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
93 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
93 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
94 | volatile int32_t MeanIntegralPitch; |
94 | volatile int32_t MeanIntegralPitch; |
95 | volatile int32_t MeanIntegralRoll; |
95 | volatile int32_t MeanIntegralRoll; |
96 | 96 | ||
97 | // attitude acceleration integrals |
97 | // attitude acceleration integrals |
98 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
98 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
99 | volatile int32_t Reading_Integral_Top = 0; |
99 | volatile int32_t Reading_Integral_Top = 0; |
100 | 100 | ||
101 | // compass course |
101 | // compass course |
102 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
102 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
103 | volatile int16_t CompassCourse = -1; |
103 | volatile int16_t CompassCourse = -1; |
104 | volatile int16_t CompassOffCourse = 0; |
104 | volatile int16_t CompassOffCourse = 0; |
105 | 105 | ||
106 | // flags |
106 | // flags |
107 | uint8_t MotorsOn = 0; |
107 | uint8_t MotorsOn = 0; |
108 | uint8_t EmergencyLanding = 0; |
108 | uint8_t EmergencyLanding = 0; |
109 | 109 | ||
110 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
110 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
111 | 111 | ||
112 | float Gyro_P_Factor; |
112 | float Gyro_P_Factor; |
113 | float Gyro_I_Factor; |
113 | float Gyro_I_Factor; |
114 | 114 | ||
115 | volatile int16_t DiffPitch, DiffRoll; |
115 | volatile int16_t DiffPitch, DiffRoll; |
116 | 116 | ||
117 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
117 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
118 | 118 | ||
119 | // setpoints for motors |
119 | // setpoints for motors |
120 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
120 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
121 | 121 | ||
122 | // stick values derived by rc channels readings |
122 | // stick values derived by rc channels readings |
123 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
123 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
124 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
124 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
125 | // stick values derived by uart inputs |
125 | // stick values derived by uart inputs |
126 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
126 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
127 | 127 | ||
128 | 128 | ||
129 | 129 | ||
130 | 130 | ||
131 | int16_t ReadingHight = 0; |
131 | int16_t ReadingHeight = 0; |
132 | int16_t SetPointHight = 0; |
132 | int16_t SetPointHeight = 0; |
133 | 133 | ||
134 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
134 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
135 | 135 | ||
136 | float Ki = FACTOR_I; |
136 | float Ki = FACTOR_I; |
137 | 137 | ||
138 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
138 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
139 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
139 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
140 | 140 | ||
141 | 141 | ||
142 | 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}; |
142 | 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}; |
143 | 143 | ||
144 | 144 | ||
145 | /************************************************************************/ |
145 | /************************************************************************/ |
146 | /* Creates numbeeps beeps at the speaker */ |
146 | /* Creates numbeeps beeps at the speaker */ |
147 | /************************************************************************/ |
147 | /************************************************************************/ |
148 | void Beep(uint8_t numbeeps) |
148 | void Beep(uint8_t numbeeps) |
149 | { |
149 | { |
150 | while(numbeeps--) |
150 | while(numbeeps--) |
151 | { |
151 | { |
152 | if(MotorsOn) return; //auf keinen Fall im Flug! |
152 | if(MotorsOn) return; //auf keinen Fall im Flug! |
153 | BeepTime = 100; // 0.1 second |
153 | BeepTime = 100; // 0.1 second |
154 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
154 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
155 | // this will block the flight control loop, |
155 | // this will block the flight control loop, |
156 | // therefore do not use this funktion if motors are running |
156 | // therefore do not use this funktion if motors are running |
157 | } |
157 | } |
158 | } |
158 | } |
159 | 159 | ||
160 | /************************************************************************/ |
160 | /************************************************************************/ |
161 | /* Neutral Readings */ |
161 | /* Neutral Readings */ |
162 | /************************************************************************/ |
162 | /************************************************************************/ |
163 | void SetNeutral(void) |
163 | void SetNeutral(void) |
164 | { |
164 | { |
165 | NeutralAccX = 0; |
165 | NeutralAccX = 0; |
166 | NeutralAccY = 0; |
166 | NeutralAccY = 0; |
167 | NeutralAccZ = 0; |
167 | NeutralAccZ = 0; |
168 | AdNeutralPitch = 0; |
168 | AdNeutralPitch = 0; |
169 | AdNeutralRoll = 0; |
169 | AdNeutralRoll = 0; |
170 | AdNeutralYaw = 0; |
170 | AdNeutralYaw = 0; |
171 | FCParam.Yaw_PosFeedback = 0; |
171 | FCParam.Yaw_PosFeedback = 0; |
172 | FCParam.Yaw_NegFeedback = 0; |
172 | FCParam.Yaw_NegFeedback = 0; |
173 | CalibMean(); |
173 | CalibMean(); |
174 | Delay_ms_Mess(100); |
174 | Delay_ms_Mess(100); |
175 | CalibMean(); |
175 | CalibMean(); |
176 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
176 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
177 | { |
177 | { |
178 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
178 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
179 | } |
179 | } |
180 | AdNeutralPitch = AdValueGyrPitch; |
180 | AdNeutralPitch = AdValueGyrPitch; |
181 | AdNeutralRoll = AdValueGyrRoll; |
181 | AdNeutralRoll = AdValueGyrRoll; |
182 | AdNeutralYaw = AdValueGyrYaw; |
182 | AdNeutralYaw = AdValueGyrYaw; |
183 | StartNeutralRoll = AdNeutralRoll; |
183 | StartNeutralRoll = AdNeutralRoll; |
184 | StartNeutralPitch = AdNeutralPitch; |
184 | StartNeutralPitch = AdNeutralPitch; |
185 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
185 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
186 | { |
186 | { |
187 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
187 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
188 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
188 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
189 | NeutralAccZ = Current_AccZ; |
189 | NeutralAccZ = Current_AccZ; |
190 | } |
190 | } |
191 | else |
191 | else |
192 | { |
192 | { |
193 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
193 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
194 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
194 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
195 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
195 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
196 | } |
196 | } |
197 | Reading_IntegralGyroPitch = 0; |
197 | Reading_IntegralGyroPitch = 0; |
198 | Reading_IntegralGyroPitch2 = 0; |
198 | Reading_IntegralGyroPitch2 = 0; |
199 | Reading_IntegralGyroRoll = 0; |
199 | Reading_IntegralGyroRoll = 0; |
200 | Reading_IntegralGyroRoll2 = 0; |
200 | Reading_IntegralGyroRoll2 = 0; |
201 | Reading_IntegralGyroYaw = 0; |
201 | Reading_IntegralGyroYaw = 0; |
202 | Reading_GyroPitch = 0; |
202 | Reading_GyroPitch = 0; |
203 | Reading_GyroRoll = 0; |
203 | Reading_GyroRoll = 0; |
204 | Reading_GyroYaw = 0; |
204 | Reading_GyroYaw = 0; |
205 | StartAirPressure = AirPressure; |
205 | StartAirPressure = AirPressure; |
206 | HightD = 0; |
206 | HeightD = 0; |
207 | Reading_Integral_Top = 0; |
207 | Reading_Integral_Top = 0; |
208 | CompassCourse = CompassHeading; |
208 | CompassCourse = CompassHeading; |
209 | BeepTime = 50; |
209 | BeepTime = 50; |
210 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
210 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
211 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
211 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
212 | ExternHightValue = 0; |
212 | ExternHeightValue = 0; |
213 | GPS_Neutral(); |
213 | GPS_Neutral(); |
214 | } |
214 | } |
215 | 215 | ||
216 | /************************************************************************/ |
216 | /************************************************************************/ |
217 | /* Averaging Measurement Readings */ |
217 | /* Averaging Measurement Readings */ |
218 | /************************************************************************/ |
218 | /************************************************************************/ |
219 | void Mean(void) |
219 | void Mean(void) |
220 | { |
220 | { |
221 | static int32_t tmpl,tmpl2; |
221 | static int32_t tmpl,tmpl2; |
222 | 222 | ||
223 | // Get offset corrected gyro readings (~ to angular velocity) |
223 | // Get offset corrected gyro readings (~ to angular velocity) |
224 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
224 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
225 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
225 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
226 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
226 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
227 | 227 | ||
228 | DebugOut.Analog[26] = Reading_GyroPitch; |
228 | DebugOut.Analog[26] = Reading_GyroPitch; |
229 | DebugOut.Analog[28] = Reading_GyroRoll; |
229 | DebugOut.Analog[28] = Reading_GyroRoll; |
230 | 230 | ||
231 | // Acceleration Sensor |
231 | // Acceleration Sensor |
232 | // sliding average sensor readings |
232 | // sliding average sensor readings |
233 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
233 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
234 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
234 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
235 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
235 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
236 | 236 | ||
237 | // sum sensor readings for later averaging |
237 | // sum sensor readings for later averaging |
238 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
238 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
239 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
239 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
240 | 240 | ||
241 | // Yaw |
241 | // Yaw |
242 | // calculate yaw gyro intergral (~ to rotation angle) |
242 | // calculate yaw gyro intergral (~ to rotation angle) |
243 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
243 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
244 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
244 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
245 | // Coupling fraction |
245 | // Coupling fraction |
246 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
246 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
247 | { |
247 | { |
248 | tmpl = Reading_IntegralGyroPitch / 4096L; |
248 | tmpl = Reading_IntegralGyroPitch / 4096L; |
249 | tmpl *= Reading_GyroYaw; |
249 | tmpl *= Reading_GyroYaw; |
250 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
250 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
251 | tmpl /= 2048L; |
251 | tmpl /= 2048L; |
252 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
252 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
253 | tmpl2 *= Reading_GyroYaw; |
253 | tmpl2 *= Reading_GyroYaw; |
254 | tmpl2 *= FCParam.Yaw_PosFeedback; |
254 | tmpl2 *= FCParam.Yaw_PosFeedback; |
255 | tmpl2 /= 2048L; |
255 | tmpl2 /= 2048L; |
256 | } |
256 | } |
257 | else tmpl = tmpl2 = 0; |
257 | else tmpl = tmpl2 = 0; |
258 | 258 | ||
259 | // Roll |
259 | // Roll |
260 | Reading_GyroRoll += tmpl; |
260 | Reading_GyroRoll += tmpl; |
261 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
261 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
262 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
262 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
263 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
263 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
264 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
264 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
265 | { |
265 | { |
266 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
266 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
267 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
267 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
268 | } |
268 | } |
269 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
269 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
270 | { |
270 | { |
271 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
271 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
272 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
272 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
273 | } |
273 | } |
274 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
274 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
275 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
275 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
276 | if(BoardRelease == 10) |
276 | if(BoardRelease == 10) |
277 | { |
277 | { |
278 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
278 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
279 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
279 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
280 | } |
280 | } |
281 | else |
281 | else |
282 | { |
282 | { |
283 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
283 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
284 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
284 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
285 | } |
285 | } |
286 | // Pitch |
286 | // Pitch |
287 | Reading_GyroPitch -= tmpl2; |
287 | Reading_GyroPitch -= tmpl2; |
288 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
288 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
289 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
289 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
290 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
290 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
291 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
291 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
292 | { |
292 | { |
293 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
293 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
294 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
294 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
295 | } |
295 | } |
296 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
296 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
297 | { |
297 | { |
298 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
298 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
299 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
299 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
300 | } |
300 | } |
301 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
301 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
302 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
302 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
303 | if(BoardRelease == 10) |
303 | if(BoardRelease == 10) |
304 | { |
304 | { |
305 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
305 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
306 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
306 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
307 | } |
307 | } |
308 | else |
308 | else |
309 | { |
309 | { |
310 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
310 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
311 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
311 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
312 | } |
312 | } |
313 | 313 | ||
314 | // start ADC |
314 | // start ADC |
315 | ADC_Enable(); |
315 | ADC_Enable(); |
316 | 316 | ||
317 | IntegralYaw = Reading_IntegralGyroYaw; |
317 | IntegralYaw = Reading_IntegralGyroYaw; |
318 | IntegralPitch = Reading_IntegralGyroPitch; |
318 | IntegralPitch = Reading_IntegralGyroPitch; |
319 | IntegralRoll = Reading_IntegralGyroRoll; |
319 | IntegralRoll = Reading_IntegralGyroRoll; |
320 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
320 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
321 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
321 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
322 | 322 | ||
323 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
323 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
324 | { |
324 | { |
325 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
325 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
326 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
326 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
327 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
327 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
328 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
328 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
329 | } |
329 | } |
330 | //update poti values by rc-signals |
330 | //update poti values by rc-signals |
331 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
331 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
332 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
332 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
333 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
333 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
334 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
334 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
335 | //limit poti values |
335 | //limit poti values |
336 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
336 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
337 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
337 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
338 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
338 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
339 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
339 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
340 | } |
340 | } |
341 | 341 | ||
342 | /************************************************************************/ |
342 | /************************************************************************/ |
343 | /* Averaging Measurement Readings for Calibration */ |
343 | /* Averaging Measurement Readings for Calibration */ |
344 | /************************************************************************/ |
344 | /************************************************************************/ |
345 | void CalibMean(void) |
345 | void CalibMean(void) |
346 | { |
346 | { |
347 | // stop ADC to avoid changing values during calculation |
347 | // stop ADC to avoid changing values during calculation |
348 | ADC_Disable(); |
348 | ADC_Disable(); |
349 | 349 | ||
350 | Reading_GyroPitch = AdValueGyrPitch; |
350 | Reading_GyroPitch = AdValueGyrPitch; |
351 | Reading_GyroRoll = AdValueGyrRoll; |
351 | Reading_GyroRoll = AdValueGyrRoll; |
352 | Reading_GyroYaw = AdValueGyrYaw; |
352 | Reading_GyroYaw = AdValueGyrYaw; |
353 | 353 | ||
354 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
354 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
355 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
355 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
356 | Mean_AccTop = (int32_t)AdValueAccTop; |
356 | Mean_AccTop = (int32_t)AdValueAccTop; |
357 | // start ADC (enables internal trigger so that the ISR in analog.c |
357 | // start ADC (enables internal trigger so that the ISR in analog.c |
358 | // updates the readings once) |
358 | // updates the readings once) |
359 | ADC_Enable(); |
359 | ADC_Enable(); |
360 | //update poti values by rc-signals |
360 | //update poti values by rc-signals |
361 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
361 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
362 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
362 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
363 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
363 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
364 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
364 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
365 | //limit poti values |
365 | //limit poti values |
366 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
366 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
367 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
367 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
368 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
368 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
369 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
369 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
370 | 370 | ||
371 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
371 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
372 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
372 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
373 | } |
373 | } |
374 | 374 | ||
375 | /************************************************************************/ |
375 | /************************************************************************/ |
376 | /* Transmit Motor Data via I2C */ |
376 | /* Transmit Motor Data via I2C */ |
377 | /************************************************************************/ |
377 | /************************************************************************/ |
378 | void SendMotorData(void) |
378 | void SendMotorData(void) |
379 | { |
379 | { |
380 | if(MOTOR_OFF || !MotorsOn) |
380 | if(MOTOR_OFF || !MotorsOn) |
381 | { |
381 | { |
382 | Motor_Rear = 0; |
382 | Motor_Rear = 0; |
383 | Motor_Front = 0; |
383 | Motor_Front = 0; |
384 | Motor_Right = 0; |
384 | Motor_Right = 0; |
385 | Motor_Left = 0; |
385 | Motor_Left = 0; |
386 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
386 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
387 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
387 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
388 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
388 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
389 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
389 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
390 | } |
390 | } |
391 | 391 | ||
392 | //DebugOut.Analog[12] = Motor_Front; |
392 | //DebugOut.Analog[12] = Motor_Front; |
393 | //DebugOut.Analog[13] = Motor_Rear; |
393 | //DebugOut.Analog[13] = Motor_Rear; |
394 | //DebugOut.Analog[14] = Motor_Left; |
394 | //DebugOut.Analog[14] = Motor_Left; |
395 | //DebugOut.Analog[15] = Motor_Right; |
395 | //DebugOut.Analog[15] = Motor_Right; |
396 | 396 | ||
397 | //Start I2C Interrupt Mode |
397 | //Start I2C Interrupt Mode |
398 | twi_state = 0; |
398 | twi_state = 0; |
399 | motor = 0; |
399 | motor = 0; |
400 | I2C_Start(); |
400 | I2C_Start(); |
401 | } |
401 | } |
402 | 402 | ||
403 | 403 | ||
404 | 404 | ||
405 | /************************************************************************/ |
405 | /************************************************************************/ |
406 | /* Maps the parameter to poti values */ |
406 | /* Maps the parameter to poti values */ |
407 | /************************************************************************/ |
407 | /************************************************************************/ |
408 | void ParameterMapping(void) |
408 | void ParameterMapping(void) |
409 | { |
409 | { |
410 | 410 | ||
411 | #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;} |
411 | #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;} |
412 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
412 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
413 | CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100); |
413 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
414 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
414 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
415 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
415 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
416 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
416 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
417 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
417 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
418 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
418 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
419 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
419 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
420 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
420 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
421 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
421 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
422 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
422 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
423 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
423 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
424 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
424 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
425 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
425 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
426 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
426 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
427 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
427 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
428 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
428 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
429 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
429 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
430 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
430 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
431 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
431 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
432 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
432 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
433 | 433 | ||
434 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
434 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
435 | } |
435 | } |
436 | 436 | ||
437 | 437 | ||
438 | /************************************************************************/ |
438 | /************************************************************************/ |
439 | /* MotorControl */ |
439 | /* MotorControl */ |
440 | /************************************************************************/ |
440 | /************************************************************************/ |
441 | void MotorControl(void) |
441 | void MotorControl(void) |
442 | { |
442 | { |
443 | int16_t MotorValue, pd_result, h, tmp_int; |
443 | int16_t MotorValue, pd_result, h, tmp_int; |
444 | int16_t YawMixFraction, ThrustMixFraction; |
444 | int16_t YawMixFraction, ThrustMixFraction; |
445 | static int32_t SumPitch = 0, SumRoll = 0; |
445 | static int32_t SumPitch = 0, SumRoll = 0; |
446 | static int32_t SetPointYaw = 0; |
446 | static int32_t SetPointYaw = 0; |
447 | static int32_t IntegralErrorPitch = 0; |
447 | static int32_t IntegralErrorPitch = 0; |
448 | static int32_t IntegralErrorRoll = 0; |
448 | static int32_t IntegralErrorRoll = 0; |
449 | static uint16_t RcLostTimer; |
449 | static uint16_t RcLostTimer; |
450 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
450 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
451 | static uint16_t Modell_Is_Flying = 0; |
451 | static uint16_t Modell_Is_Flying = 0; |
452 | static uint8_t HightControlActive = 0; |
452 | static uint8_t HeightControlActive = 0; |
453 | static int16_t HightControlThrust = 0; |
453 | static int16_t HeightControlThrust = 0; |
454 | static int8_t TimerDebugOut = 0; |
454 | static int8_t TimerDebugOut = 0; |
455 | static int8_t StoreNewCompassCourse = 0; |
455 | static int8_t StoreNewCompassCourse = 0; |
456 | static int32_t CorrectionPitch, CorrectionRoll; |
456 | static int32_t CorrectionPitch, CorrectionRoll; |
457 | 457 | ||
458 | Mean(); |
458 | Mean(); |
459 | 459 | ||
460 | GRN_ON; |
460 | GRN_ON; |
461 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
461 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
462 | // determine thrust value |
462 | // determine thrust value |
463 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
463 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
464 | ThrustMixFraction = StickThrust; |
464 | ThrustMixFraction = StickThrust; |
465 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
465 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
466 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
466 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
467 | // RC-signal is bad |
467 | // RC-signal is bad |
468 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
468 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
469 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
469 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
470 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
470 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
471 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
471 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
472 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
472 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
473 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
473 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
474 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
474 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
475 | { |
475 | { |
476 | if(!PcAccess) // if also no PC-Access via UART |
476 | if(!PcAccess) // if also no PC-Access via UART |
477 | { |
477 | { |
478 | if(BeepModulation == 0xFFFF) |
478 | if(BeepModulation == 0xFFFF) |
479 | { |
479 | { |
480 | BeepTime = 15000; // 1.5 seconds |
480 | BeepTime = 15000; // 1.5 seconds |
481 | BeepModulation = 0x0C00; |
481 | BeepModulation = 0x0C00; |
482 | } |
482 | } |
483 | } |
483 | } |
484 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
484 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
485 | else // rc lost countdown finished |
485 | else // rc lost countdown finished |
486 | { |
486 | { |
487 | MotorsOn = 0; // stop all motors |
487 | MotorsOn = 0; // stop all motors |
488 | EmergencyLanding = 0; // emergency landing is over |
488 | EmergencyLanding = 0; // emergency landing is over |
489 | } |
489 | } |
490 | ROT_ON; // set red led |
490 | ROT_ON; // set red led |
491 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
491 | if(Modell_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
492 | { |
492 | { |
493 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
493 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
494 | EmergencyLanding = 1; // enable emergency landing |
494 | EmergencyLanding = 1; // enable emergency landing |
495 | // set neutral rc inputs |
495 | // set neutral rc inputs |
496 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
496 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
497 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
497 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
498 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
498 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
499 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
499 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
500 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
500 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
501 | } |
501 | } |
502 | else MotorsOn = 0; // switch of all motors |
502 | else MotorsOn = 0; // switch of all motors |
503 | } |
503 | } |
504 | else |
504 | else |
505 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
505 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
506 | // RC-signal is good |
506 | // RC-signal is good |
507 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
507 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
508 | if(SenderOkay > 140) |
508 | if(SenderOkay > 140) |
509 | { |
509 | { |
510 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
510 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
511 | // reset emergency timer |
511 | // reset emergency timer |
512 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
512 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
513 | if(ThrustMixFraction > 40) |
513 | if(ThrustMixFraction > 40) |
514 | { |
514 | { |
515 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
515 | if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++; |
516 | } |
516 | } |
517 | if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
517 | if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40)) |
518 | { |
518 | { |
519 | SumPitch = 0; |
519 | SumPitch = 0; |
520 | SumRoll = 0; |
520 | SumRoll = 0; |
521 | Reading_IntegralGyroYaw = 0; |
521 | Reading_IntegralGyroYaw = 0; |
522 | Reading_IntegralGyroYaw2 = 0; |
522 | Reading_IntegralGyroYaw2 = 0; |
523 | } |
523 | } |
524 | // if motors are off and the thrust stick is in the upper position |
524 | // if motors are off and the thrust stick is in the upper position |
525 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
525 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
526 | { |
526 | { |
527 | // and if the yaw stick is in the leftmost position |
527 | // and if the yaw stick is in the leftmost position |
528 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
528 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
529 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
529 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
530 | // calibrate the neutral readings of all attitude sensors |
530 | // calibrate the neutral readings of all attitude sensors |
531 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
531 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
532 | { |
532 | { |
533 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
533 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
534 | { |
534 | { |
535 | delay_neutral = 0; |
535 | delay_neutral = 0; |
536 | GRN_OFF; |
536 | GRN_OFF; |
537 | Modell_Is_Flying = 0; |
537 | Modell_Is_Flying = 0; |
538 | // check roll/pitch stick position |
538 | // check roll/pitch stick position |
539 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
539 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
540 | // according to roll/pitch stick position |
540 | // according to roll/pitch stick position |
541 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
541 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
542 | { |
542 | { |
543 | uint8_t setting = 1; // default |
543 | uint8_t setting = 1; // default |
544 | // _________ |
544 | // _________ |
545 | // |2 3 4| |
545 | // |2 3 4| |
546 | // | | |
546 | // | | |
547 | // |1 5| |
547 | // |1 5| |
548 | // | | |
548 | // | | |
549 | // |_________| |
549 | // |_________| |
550 | // |
550 | // |
551 | // roll stick leftmost and pitch stick centered --> setting 1 |
551 | // roll stick leftmost and pitch stick centered --> setting 1 |
552 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
552 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
553 | // roll stick leftmost and pitch stick topmost --> setting 2 |
553 | // roll stick leftmost and pitch stick topmost --> setting 2 |
554 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
554 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
555 | // roll stick centered an pitch stick topmost --> setting 3 |
555 | // roll stick centered an pitch stick topmost --> setting 3 |
556 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
556 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
557 | // roll stick rightmost and pitch stick topmost --> setting 4 |
557 | // roll stick rightmost and pitch stick topmost --> setting 4 |
558 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
558 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
559 | // roll stick rightmost and pitch stick centered --> setting 5 |
559 | // roll stick rightmost and pitch stick centered --> setting 5 |
560 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
560 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
561 | // update active parameter set in eeprom |
561 | // update active parameter set in eeprom |
562 | SetActiveParamSet(setting); |
562 | SetActiveParamSet(setting); |
563 | } |
563 | } |
564 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
564 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
565 | SetNeutral(); |
565 | SetNeutral(); |
566 | Beep(GetActiveParamSet()); |
566 | Beep(GetActiveParamSet()); |
567 | } |
567 | } |
568 | } |
568 | } |
569 | // and if the yaw stick is in the rightmost position |
569 | // and if the yaw stick is in the rightmost position |
570 | // save the ACC neutral setting to eeprom |
570 | // save the ACC neutral setting to eeprom |
571 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
571 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
572 | { |
572 | { |
573 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
573 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
574 | { |
574 | { |
575 | delay_neutral = 0; |
575 | delay_neutral = 0; |
576 | GRN_OFF; |
576 | GRN_OFF; |
577 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
577 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
578 | Modell_Is_Flying = 0; |
578 | Modell_Is_Flying = 0; |
579 | SetNeutral(); |
579 | SetNeutral(); |
580 | // Save ACC neutral settings to eeprom |
580 | // Save ACC neutral settings to eeprom |
581 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
581 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
582 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
582 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
583 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
583 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
584 | Beep(GetActiveParamSet()); |
584 | Beep(GetActiveParamSet()); |
585 | } |
585 | } |
586 | } |
586 | } |
587 | else delay_neutral = 0; |
587 | else delay_neutral = 0; |
588 | } |
588 | } |
589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
590 | // thrust stick is down |
590 | // thrust stick is down |
591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
592 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
592 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
593 | { |
593 | { |
594 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
594 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | // and yaw stick is rightmost --> start motors |
595 | // and yaw stick is rightmost --> start motors |
596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
597 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
597 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
598 | { |
598 | { |
599 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
599 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
600 | { |
600 | { |
601 | delay_startmotors = 200; // do not repeat if once executed |
601 | delay_startmotors = 200; // do not repeat if once executed |
602 | Modell_Is_Flying = 1; |
602 | Modell_Is_Flying = 1; |
603 | MotorsOn = 1; |
603 | MotorsOn = 1; |
604 | SetPointYaw = 0; |
604 | SetPointYaw = 0; |
605 | Reading_IntegralGyroYaw = 0; |
605 | Reading_IntegralGyroYaw = 0; |
606 | Reading_IntegralGyroYaw2 = 0; |
606 | Reading_IntegralGyroYaw2 = 0; |
607 | Reading_IntegralGyroPitch = 0; |
607 | Reading_IntegralGyroPitch = 0; |
608 | Reading_IntegralGyroRoll = 0; |
608 | Reading_IntegralGyroRoll = 0; |
609 | Reading_IntegralGyroPitch2 = IntegralPitch; |
609 | Reading_IntegralGyroPitch2 = IntegralPitch; |
610 | Reading_IntegralGyroRoll2 = IntegralRoll; |
610 | Reading_IntegralGyroRoll2 = IntegralRoll; |
611 | SumPitch = 0; |
611 | SumPitch = 0; |
612 | SumRoll = 0; |
612 | SumRoll = 0; |
613 | GPS_SetHomePosition(); |
613 | GPS_SetHomePosition(); |
614 | } |
614 | } |
615 | } |
615 | } |
616 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
616 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
617 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
617 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
618 | // and yaw stick is leftmost --> stop motors |
618 | // and yaw stick is leftmost --> stop motors |
619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
620 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
620 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
621 | { |
621 | { |
622 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
622 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
623 | { |
623 | { |
624 | delay_stopmotors = 200; // do not repeat if once executed |
624 | delay_stopmotors = 200; // do not repeat if once executed |
625 | Modell_Is_Flying = 0; |
625 | Modell_Is_Flying = 0; |
626 | MotorsOn = 0; |
626 | MotorsOn = 0; |
627 | 627 | ||
628 | } |
628 | } |
629 | } |
629 | } |
630 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
630 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
631 | } |
631 | } |
632 | } |
632 | } |
633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
634 | // new values from RC |
634 | // new values from RC |
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
636 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
636 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
637 | { |
637 | { |
638 | int tmp_int; |
638 | int tmp_int; |
639 | ParameterMapping(); // remapping params (online poti replacement) |
639 | ParameterMapping(); // remapping params (online poti replacement) |
640 | 640 | ||
641 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
641 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
642 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
642 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
643 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
643 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
644 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
644 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
645 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
645 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
646 | 646 | ||
647 | // direct mapping of yaw and thrust |
647 | // direct mapping of yaw and thrust |
648 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
648 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
649 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
649 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
650 | 650 | ||
651 | // update max stick positions for pitch, roll and yaw |
651 | // update max stick positions for pitch, roll and yaw |
652 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
652 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
653 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
653 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
654 | else MaxStickPitch--; |
654 | else MaxStickPitch--; |
655 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
655 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
656 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
656 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
657 | else MaxStickRoll--; |
657 | else MaxStickRoll--; |
658 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
658 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
659 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
659 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
660 | else MaxStickYaw--; |
660 | else MaxStickYaw--; |
661 | 661 | ||
662 | // update gyro control loop factors |
662 | // update gyro control loop factors |
663 | 663 | ||
664 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
664 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
665 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
665 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
666 | 666 | ||
667 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
668 | // Digital Control via DubWise |
668 | // Digital Control via DubWise |
669 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
669 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | 670 | ||
671 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
671 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
672 | if(DubWiseKeys[1]) BeepTime = 10; |
672 | if(DubWiseKeys[1]) BeepTime = 10; |
673 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
673 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
674 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
674 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
675 | else tmp_int = 0; |
675 | else tmp_int = 0; |
676 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
676 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
677 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
677 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
678 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
678 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
679 | else tmp_int = 0; |
679 | else tmp_int = 0; |
680 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
680 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
681 | 681 | ||
682 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
682 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
683 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
683 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
684 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
684 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
685 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
685 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
686 | 686 | ||
687 | StickPitch += ExternStickPitch / 8; |
687 | StickPitch += ExternStickPitch / 8; |
688 | StickRoll += ExternStickRoll / 8; |
688 | StickRoll += ExternStickRoll / 8; |
689 | StickYaw += ExternStickYaw; |
689 | StickYaw += ExternStickYaw; |
690 | 690 | ||
691 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
691 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | //+ Analog control via serial communication |
692 | //+ Analog control via serial communication |
693 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | 694 | ||
695 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
695 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
696 | { |
696 | { |
697 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
697 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
698 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
698 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
699 | StickYaw += ExternControl.Yaw; |
699 | StickYaw += ExternControl.Yaw; |
700 | ExternHightValue = (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain; |
700 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
701 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
701 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
702 | } |
702 | } |
703 | // disable I part of gyro control feedback |
703 | // disable I part of gyro control feedback |
704 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
704 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
705 | // avoid negative scaling factors |
705 | // avoid negative scaling factors |
706 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
706 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
707 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
707 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
708 | 708 | ||
709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
710 | // Looping? |
710 | // Looping? |
711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
712 | 712 | ||
713 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
713 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
714 | else |
714 | else |
715 | { |
715 | { |
716 | { |
716 | { |
717 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
717 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
718 | } |
718 | } |
719 | } |
719 | } |
720 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
720 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
721 | else |
721 | else |
722 | { |
722 | { |
723 | if(Looping_Right) // Hysterese |
723 | if(Looping_Right) // Hysterese |
724 | { |
724 | { |
725 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
725 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
726 | } |
726 | } |
727 | } |
727 | } |
728 | 728 | ||
729 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
729 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
730 | else |
730 | else |
731 | { |
731 | { |
732 | if(Looping_Top) // Hysterese |
732 | if(Looping_Top) // Hysterese |
733 | { |
733 | { |
734 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
734 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
735 | } |
735 | } |
736 | } |
736 | } |
737 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
737 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
738 | else |
738 | else |
739 | { |
739 | { |
740 | if(Looping_Down) // Hysterese |
740 | if(Looping_Down) // Hysterese |
741 | { |
741 | { |
742 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
742 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
743 | } |
743 | } |
744 | } |
744 | } |
745 | 745 | ||
746 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
746 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
747 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
747 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
748 | } // End of new RC-Values or Emergency Landing |
748 | } // End of new RC-Values or Emergency Landing |
749 | 749 | ||
750 | 750 | ||
751 | if(Looping_Roll) BeepTime = 100; |
751 | if(Looping_Roll) BeepTime = 100; |
752 | if(Looping_Roll || Looping_Pitch) |
752 | if(Looping_Roll || Looping_Pitch) |
753 | { |
753 | { |
754 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
754 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
755 | } |
755 | } |
756 | 756 | ||
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // in case of emergency landing |
758 | // in case of emergency landing |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
760 | // set all inputs to save values |
760 | // set all inputs to save values |
761 | if(EmergencyLanding) |
761 | if(EmergencyLanding) |
762 | { |
762 | { |
763 | StickYaw = 0; |
763 | StickYaw = 0; |
764 | StickPitch = 0; |
764 | StickPitch = 0; |
765 | StickRoll = 0; |
765 | StickRoll = 0; |
766 | Gyro_P_Factor = 0.5; |
766 | Gyro_P_Factor = 0.5; |
767 | Gyro_I_Factor = 0.003; |
767 | Gyro_I_Factor = 0.003; |
768 | Looping_Roll = 0; |
768 | Looping_Roll = 0; |
769 | Looping_Pitch = 0; |
769 | Looping_Pitch = 0; |
770 | MaxStickPitch = 0; |
770 | MaxStickPitch = 0; |
771 | MaxStickRoll = 0; |
771 | MaxStickRoll = 0; |
772 | MaxStickYaw = 0; |
772 | MaxStickYaw = 0; |
773 | } |
773 | } |
774 | 774 | ||
775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
776 | // Trim Gyro-Integrals to ACC-Signals |
776 | // Trim Gyro-Integrals to ACC-Signals |
777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
778 | 778 | ||
779 | #define BALANCE_NUMBER 256L |
779 | #define BALANCE_NUMBER 256L |
780 | // sum for averaging |
780 | // sum for averaging |
781 | MeanIntegralPitch += IntegralPitch; |
781 | MeanIntegralPitch += IntegralPitch; |
782 | MeanIntegralRoll += IntegralRoll; |
782 | MeanIntegralRoll += IntegralRoll; |
783 | 783 | ||
784 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
784 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
785 | { |
785 | { |
786 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
786 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
787 | MeasurementCounter = 0; |
787 | MeasurementCounter = 0; |
788 | 788 | ||
789 | IntegralAccPitch = 0; |
789 | IntegralAccPitch = 0; |
790 | IntegralAccRoll = 0; |
790 | IntegralAccRoll = 0; |
791 | 791 | ||
792 | MeanIntegralPitch = 0; |
792 | MeanIntegralPitch = 0; |
793 | MeanIntegralRoll = 0; |
793 | MeanIntegralRoll = 0; |
794 | 794 | ||
795 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
795 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
796 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
796 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
797 | 797 | ||
798 | AttitudeCorrectionPitch = 0; |
798 | AttitudeCorrectionPitch = 0; |
799 | AttitudeCorrectionRoll = 0; |
799 | AttitudeCorrectionRoll = 0; |
800 | } |
800 | } |
801 | 801 | ||
802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
803 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
803 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
804 | { |
804 | { |
805 | int32_t tmp_long, tmp_long2; |
805 | int32_t tmp_long, tmp_long2; |
806 | // determine the deviation of gyro integral from averaged acceleration sensor |
806 | // determine the deviation of gyro integral from averaged acceleration sensor |
807 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
807 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
808 | tmp_long /= 16; |
808 | tmp_long /= 16; |
809 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
809 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
810 | tmp_long2 /= 16; |
810 | tmp_long2 /= 16; |
811 | 811 | ||
812 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
812 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
813 | { |
813 | { |
814 | tmp_long /= 3; |
814 | tmp_long /= 3; |
815 | tmp_long2 /= 3; |
815 | tmp_long2 /= 3; |
816 | } |
816 | } |
817 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
817 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
818 | { |
818 | { |
819 | tmp_long /= 3; |
819 | tmp_long /= 3; |
820 | tmp_long2 /= 3; |
820 | tmp_long2 /= 3; |
821 | } |
821 | } |
822 | 822 | ||
823 | #define BALANCE 32 |
823 | #define BALANCE 32 |
824 | // limit correction effect |
824 | // limit correction effect |
825 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
825 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
826 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
826 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
827 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
827 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
828 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
828 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
829 | // correct current readings |
829 | // correct current readings |
830 | Reading_IntegralGyroPitch -= tmp_long; |
830 | Reading_IntegralGyroPitch -= tmp_long; |
831 | Reading_IntegralGyroRoll -= tmp_long2; |
831 | Reading_IntegralGyroRoll -= tmp_long2; |
832 | } |
832 | } |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
834 | // MeasurementCounter is incremented in the isr of analog.c |
834 | // MeasurementCounter is incremented in the isr of analog.c |
835 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
835 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
836 | { |
836 | { |
837 | static int16_t cnt = 0; |
837 | static int16_t cnt = 0; |
838 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
838 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
839 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
839 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
840 | 840 | ||
841 | // if not lopping in any direction (this should be alwais the case, |
841 | // if not lopping in any direction (this should be alwais the case, |
842 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
842 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
843 | if(!Looping_Pitch && !Looping_Roll) |
843 | if(!Looping_Pitch && !Looping_Roll) |
844 | { |
844 | { |
845 | // Calculate mean value of the gyro integrals |
845 | // Calculate mean value of the gyro integrals |
846 | MeanIntegralPitch /= BALANCE_NUMBER; |
846 | MeanIntegralPitch /= BALANCE_NUMBER; |
847 | MeanIntegralRoll /= BALANCE_NUMBER; |
847 | MeanIntegralRoll /= BALANCE_NUMBER; |
848 | 848 | ||
849 | // Calculate mean of the acceleration values |
849 | // Calculate mean of the acceleration values |
850 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
850 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
851 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
851 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
852 | 852 | ||
853 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
853 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
854 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
855 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
855 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
856 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
856 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
857 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
857 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
858 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
858 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
859 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
860 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
860 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
861 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
861 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
862 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
862 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
863 | 863 | ||
864 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
864 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
865 | { |
865 | { |
866 | AttitudeCorrectionPitch /= 2; |
866 | AttitudeCorrectionPitch /= 2; |
867 | AttitudeCorrectionRoll /= 2; |
867 | AttitudeCorrectionRoll /= 2; |
868 | } |
868 | } |
869 | 869 | ||
870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
871 | // Gyro-Drift ermitteln |
871 | // Gyro-Drift ermitteln |
872 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
872 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
873 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
873 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
874 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
874 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
875 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
875 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
876 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
876 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
877 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
877 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
878 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
878 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
879 | 879 | ||
880 | 880 | ||
881 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
881 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
882 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
882 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
883 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
883 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
884 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
884 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
885 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
885 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
886 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
886 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
887 | //DebugOut.Analog[28] = CorrectionPitch; |
887 | //DebugOut.Analog[28] = CorrectionPitch; |
888 | DebugOut.Analog[29] = CorrectionRoll; |
888 | DebugOut.Analog[29] = CorrectionRoll; |
889 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
889 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
890 | 890 | ||
891 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
891 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
892 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
892 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
893 | #define MOVEMENT_LIMIT 20000 |
893 | #define MOVEMENT_LIMIT 20000 |
894 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
894 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
895 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
895 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
896 | CorrectionPitch = 0; |
896 | CorrectionPitch = 0; |
897 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
897 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
898 | { |
898 | { |
899 | if(IntegralErrorPitch > ERROR_LIMIT2) |
899 | if(IntegralErrorPitch > ERROR_LIMIT2) |
900 | { |
900 | { |
901 | if(last_n_p) |
901 | if(last_n_p) |
902 | { |
902 | { |
903 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
903 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
904 | CorrectionPitch = IntegralErrorPitch / 8; |
904 | CorrectionPitch = IntegralErrorPitch / 8; |
905 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
905 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
906 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
906 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
907 | } |
907 | } |
908 | else last_n_p = 1; |
908 | else last_n_p = 1; |
909 | } |
909 | } |
910 | else last_n_p = 0; |
910 | else last_n_p = 0; |
911 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
911 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
912 | { |
912 | { |
913 | if(last_n_n) |
913 | if(last_n_n) |
914 | { |
914 | { |
915 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
915 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
916 | CorrectionPitch = IntegralErrorPitch / 8; |
916 | CorrectionPitch = IntegralErrorPitch / 8; |
917 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
917 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
918 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
918 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
919 | } |
919 | } |
920 | else last_n_n = 1; |
920 | else last_n_n = 1; |
921 | } |
921 | } |
922 | else last_n_n = 0; |
922 | else last_n_n = 0; |
923 | } |
923 | } |
924 | else cnt = 0; |
924 | else cnt = 0; |
925 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
925 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
926 | // correct Gyro Offsets |
926 | // correct Gyro Offsets |
927 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
927 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
928 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
928 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
929 | 929 | ||
930 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
930 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
931 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
931 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
932 | CorrectionRoll = 0; |
932 | CorrectionRoll = 0; |
933 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
933 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
934 | { |
934 | { |
935 | if(IntegralErrorRoll > ERROR_LIMIT2) |
935 | if(IntegralErrorRoll > ERROR_LIMIT2) |
936 | { |
936 | { |
937 | if(last_r_p) |
937 | if(last_r_p) |
938 | { |
938 | { |
939 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
939 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
940 | CorrectionRoll = IntegralErrorRoll / 8; |
940 | CorrectionRoll = IntegralErrorRoll / 8; |
941 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
941 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
942 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
942 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
943 | } |
943 | } |
944 | else last_r_p = 1; |
944 | else last_r_p = 1; |
945 | } |
945 | } |
946 | else last_r_p = 0; |
946 | else last_r_p = 0; |
947 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
947 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
948 | { |
948 | { |
949 | if(last_r_n) |
949 | if(last_r_n) |
950 | { |
950 | { |
951 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
951 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
952 | CorrectionRoll = IntegralErrorRoll / 8; |
952 | CorrectionRoll = IntegralErrorRoll / 8; |
953 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
953 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
954 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
954 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
955 | } |
955 | } |
956 | else last_r_n = 1; |
956 | else last_r_n = 1; |
957 | } |
957 | } |
958 | else last_r_n = 0; |
958 | else last_r_n = 0; |
959 | } |
959 | } |
960 | else cnt = 0; |
960 | else cnt = 0; |
961 | // correct Gyro Offsets |
961 | // correct Gyro Offsets |
962 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
962 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
963 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
963 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
964 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
964 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
965 | 965 | ||
966 | DebugOut.Analog[27] = CorrectionRoll; |
966 | DebugOut.Analog[27] = CorrectionRoll; |
967 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
967 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
968 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
968 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
969 | } |
969 | } |
970 | else // looping is active |
970 | else // looping is active |
971 | { |
971 | { |
972 | AttitudeCorrectionRoll = 0; |
972 | AttitudeCorrectionRoll = 0; |
973 | AttitudeCorrectionPitch = 0; |
973 | AttitudeCorrectionPitch = 0; |
974 | } |
974 | } |
975 | 975 | ||
976 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
976 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
977 | if(!Gyro_I_Factor) |
977 | if(!Gyro_I_Factor) |
978 | { |
978 | { |
979 | AttitudeCorrectionRoll = 0; |
979 | AttitudeCorrectionRoll = 0; |
980 | AttitudeCorrectionPitch = 0; |
980 | AttitudeCorrectionPitch = 0; |
981 | } |
981 | } |
982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
983 | MeanIntegralPitch_old = MeanIntegralPitch; |
983 | MeanIntegralPitch_old = MeanIntegralPitch; |
984 | MeanIntegralRoll_old = MeanIntegralRoll; |
984 | MeanIntegralRoll_old = MeanIntegralRoll; |
985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
986 | // reset variables used for averaging |
986 | // reset variables used for averaging |
987 | IntegralAccPitch = 0; |
987 | IntegralAccPitch = 0; |
988 | IntegralAccRoll = 0; |
988 | IntegralAccRoll = 0; |
989 | MeanIntegralPitch = 0; |
989 | MeanIntegralPitch = 0; |
990 | MeanIntegralRoll = 0; |
990 | MeanIntegralRoll = 0; |
991 | MeasurementCounter = 0; |
991 | MeasurementCounter = 0; |
992 | } // end of averaging |
992 | } // end of averaging |
993 | 993 | ||
994 | 994 | ||
995 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
995 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | // Yawing |
996 | // Yawing |
997 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
997 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
998 | if(MaxStickYaw > 20) // yaw stick is activated |
998 | if(MaxStickYaw > 20) // yaw stick is activated |
999 | { // if not fixed compass course is set update compass course |
999 | { // if not fixed compass course is set update compass course |
1000 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
1000 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
1001 | } |
1001 | } |
1002 | // exponential stick sensitivity in yawring rate |
1002 | // exponential stick sensitivity in yawring rate |
1003 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1003 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1004 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1004 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1005 | SetPointYaw = tmp_int; |
1005 | SetPointYaw = tmp_int; |
1006 | Reading_IntegralGyroYaw -= tmp_int; |
1006 | Reading_IntegralGyroYaw -= tmp_int; |
1007 | // limit the effect |
1007 | // limit the effect |
1008 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1008 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1009 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1009 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1010 | 1010 | ||
1011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1012 | // Compass |
1012 | // Compass |
1013 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1013 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1014 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1014 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1015 | { |
1015 | { |
1016 | int16_t w,v; |
1016 | int16_t w,v; |
1017 | static uint8_t updCompass = 0; |
1017 | static uint8_t updCompass = 0; |
1018 | 1018 | ||
1019 | if (!updCompass--) |
1019 | if (!updCompass--) |
1020 | { |
1020 | { |
1021 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1021 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1022 | // get current compass heading (angule between MK head and magnetic north) |
1022 | // get current compass heading (angule between MK head and magnetic north) |
1023 | #ifdef USE_MM3 |
1023 | #ifdef USE_MM3 |
1024 | CompassHeading = MM3_Heading(); |
1024 | CompassHeading = MM3_Heading(); |
1025 | #endif |
1025 | #endif |
1026 | #ifdef USE_CMPS03 |
1026 | #ifdef USE_CMPS03 |
1027 | CompassHeading = CMPS03_Heading(); |
1027 | CompassHeading = CMPS03_Heading(); |
1028 | #endif |
1028 | #endif |
1029 | 1029 | ||
1030 | if (CompassHeading < 0) // no compass data available |
1030 | if (CompassHeading < 0) // no compass data available |
1031 | { |
1031 | { |
1032 | CompassOffCourse = 0; |
1032 | CompassOffCourse = 0; |
1033 | if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
1033 | if(!BeepTime) BeepTime = 100; // make noise at 10 Hz to signal the compass problem |
1034 | } |
1034 | } |
1035 | else // calculate OffCourse (angular deviation from heading to course) |
1035 | else // calculate OffCourse (angular deviation from heading to course) |
1036 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1036 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1037 | } |
1037 | } |
1038 | 1038 | ||
1039 | // reduce compass effect with increasing declination |
1039 | // reduce compass effect with increasing declination |
1040 | w = abs(IntegralPitch / 512); |
1040 | w = abs(IntegralPitch / 512); |
1041 | v = abs(IntegralRoll / 512); |
1041 | v = abs(IntegralRoll / 512); |
1042 | if(v > w) w = v; // get maximum declination |
1042 | if(v > w) w = v; // get maximum declination |
1043 | // if declination is small enough update compass course if neccessary |
1043 | // if declination is small enough update compass course if neccessary |
1044 | if(w < 35 && StoreNewCompassCourse) |
1044 | if(w < 35 && StoreNewCompassCourse) |
1045 | { |
1045 | { |
1046 | CompassCourse = CompassHeading; |
1046 | CompassCourse = CompassHeading; |
1047 | StoreNewCompassCourse = 0; |
1047 | StoreNewCompassCourse = 0; |
1048 | } |
1048 | } |
1049 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1049 | w = (w * FCParam.CompassYawEffect) / 64; // scale to parameter |
1050 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
1050 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
1051 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1051 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1052 | { |
1052 | { |
1053 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1053 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1054 | } |
1054 | } |
1055 | } |
1055 | } |
1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1057 | // GPS |
1057 | // GPS |
1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1059 | if((ParamSet.GlobalConfig & CFG_GPS_ACTIVE) && !EmergencyLanding) |
1059 | if((ParamSet.GlobalConfig & CFG_GPS_ACTIVE) && !EmergencyLanding) |
1060 | { |
1060 | { |
1061 | GPS_P_Factor = FCParam.UserParam5; |
1061 | GPS_P_Factor = FCParam.UserParam5; |
1062 | GPS_D_Factor = FCParam.UserParam6; |
1062 | GPS_D_Factor = FCParam.UserParam6; |
1063 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
1063 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
1064 | } |
1064 | } |
1065 | else |
1065 | else |
1066 | { |
1066 | { |
1067 | GPS_Neutral(); |
1067 | GPS_Neutral(); |
1068 | } |
1068 | } |
1069 | 1069 | ||
1070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1071 | // Debugwerte zuordnen |
1071 | // Debugwerte zuordnen |
1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1073 | if(!TimerDebugOut--) |
1073 | if(!TimerDebugOut--) |
1074 | { |
1074 | { |
1075 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1075 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1076 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1076 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1077 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1077 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1078 | DebugOut.Analog[2] = Mean_AccPitch; |
1078 | DebugOut.Analog[2] = Mean_AccPitch; |
1079 | DebugOut.Analog[3] = Mean_AccRoll; |
1079 | DebugOut.Analog[3] = Mean_AccRoll; |
1080 | DebugOut.Analog[4] = Reading_GyroYaw; |
1080 | DebugOut.Analog[4] = Reading_GyroYaw; |
1081 | DebugOut.Analog[5] = ReadingHight; |
1081 | DebugOut.Analog[5] = ReadingHeight; |
1082 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1082 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1083 | DebugOut.Analog[8] = CompassHeading; |
1083 | DebugOut.Analog[8] = CompassHeading; |
1084 | DebugOut.Analog[9] = UBat; |
1084 | DebugOut.Analog[9] = UBat; |
1085 | DebugOut.Analog[10] = SenderOkay; |
1085 | DebugOut.Analog[10] = SenderOkay; |
1086 | DebugOut.Analog[16] = Mean_AccTop; |
1086 | DebugOut.Analog[16] = Mean_AccTop; |
1087 | 1087 | ||
1088 | /* DebugOut.Analog[16] = motor_rx[0]; |
1088 | /* DebugOut.Analog[16] = motor_rx[0]; |
1089 | DebugOut.Analog[17] = motor_rx[1]; |
1089 | DebugOut.Analog[17] = motor_rx[1]; |
1090 | DebugOut.Analog[18] = motor_rx[2]; |
1090 | DebugOut.Analog[18] = motor_rx[2]; |
1091 | DebugOut.Analog[19] = motor_rx[3]; |
1091 | DebugOut.Analog[19] = motor_rx[3]; |
1092 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1092 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1093 | DebugOut.Analog[20] /= 14; |
1093 | DebugOut.Analog[20] /= 14; |
1094 | DebugOut.Analog[21] = motor_rx[4]; |
1094 | DebugOut.Analog[21] = motor_rx[4]; |
1095 | DebugOut.Analog[22] = motor_rx[5]; |
1095 | DebugOut.Analog[22] = motor_rx[5]; |
1096 | DebugOut.Analog[23] = motor_rx[6]; |
1096 | DebugOut.Analog[23] = motor_rx[6]; |
1097 | DebugOut.Analog[24] = motor_rx[7]; |
1097 | DebugOut.Analog[24] = motor_rx[7]; |
1098 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1098 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1099 | 1099 | ||
1100 | DebugOut.Analog[9] = Reading_GyroPitch; |
1100 | DebugOut.Analog[9] = Reading_GyroPitch; |
1101 | DebugOut.Analog[9] = SetPointHight; |
1101 | DebugOut.Analog[9] = SetPointHeight; |
1102 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1102 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1103 | DebugOut.Analog[11] = CompassCourse; |
1103 | DebugOut.Analog[11] = CompassCourse; |
1104 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1104 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1105 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1105 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1106 | DebugOut.Analog[9] = CompassOffCourse; |
1106 | DebugOut.Analog[9] = CompassOffCourse; |
1107 | DebugOut.Analog[10] = ThrustMixFraction; |
1107 | DebugOut.Analog[10] = ThrustMixFraction; |
1108 | DebugOut.Analog[3] = HightD * 32; |
1108 | DebugOut.Analog[3] = HeightD * 32; |
1109 | DebugOut.Analog[4] = HightControlThrust; |
1109 | DebugOut.Analog[4] = HeightControlThrust; |
1110 | */ |
1110 | */ |
1111 | } |
1111 | } |
1112 | 1112 | ||
1113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1114 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1114 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1116 | 1116 | ||
1117 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1117 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1118 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1118 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1119 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1119 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1120 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1120 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1121 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1121 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1122 | 1122 | ||
1123 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1123 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1124 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1124 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1125 | DebugOut.Analog[28] = Reading_GyroRoll; |
1125 | DebugOut.Analog[28] = Reading_GyroRoll; |
1126 | 1126 | ||
1127 | // limit control feedback |
1127 | // limit control feedback |
1128 | #define MAX_SENSOR 2048 |
1128 | #define MAX_SENSOR 2048 |
1129 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1129 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1130 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1130 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1131 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1131 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1132 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1132 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1133 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1133 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1134 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1134 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1135 | 1135 | ||
1136 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1136 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1137 | // Hight Control |
1137 | // Height Control |
1138 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1138 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1140 | // If hight control is activated and no emergency landing is active |
1140 | // If hight control is activated and no emergency landing is active |
1141 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1141 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1142 | { |
1142 | { |
1143 | int tmp_int; |
1143 | int tmp_int; |
1144 | // if hight control is activated by an rc channel |
1144 | // if hight control is activated by an rc channel |
1145 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1145 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1146 | { // check if parameter is less than activation threshold |
1146 | { // check if parameter is less than activation threshold |
1147 | if(FCParam.MaxHight < 50) |
1147 | if(FCParam.MaxHeight < 50) |
1148 | { |
1148 | { |
1149 | SetPointHight = ReadingHight - 20; // update SetPoint with current reading |
1149 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1150 | HightControlActive = 0; // disable hight control |
1150 | HeightControlActive = 0; // disable hight control |
1151 | } |
1151 | } |
1152 | else HightControlActive = 1; // enable hight control |
1152 | else HeightControlActive = 1; // enable hight control |
1153 | } |
1153 | } |
1154 | else // no switchable hight control |
1154 | else // no switchable hight control |
1155 | { |
1155 | { |
1156 | SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20; |
1156 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1157 | HightControlActive = 1; |
1157 | HeightControlActive = 1; |
1158 | } |
1158 | } |
1159 | // get current hight |
1159 | // get current hight |
1160 | h = ReadingHight; |
1160 | h = ReadingHeight; |
1161 | // if current hight is above the setpoint reduce thrust |
1161 | // if current hight is above the setpoint reduce thrust |
1162 | if((h > SetPointHight) && HightControlActive) |
1162 | if((h > SetPointHeight) && HeightControlActive) |
1163 | { |
1163 | { |
1164 | // hight difference -> P control part |
1164 | // hight difference -> P control part |
1165 | h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16; |
1165 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
1166 | h = ThrustMixFraction - h; // reduce gas |
1166 | h = ThrustMixFraction - h; // reduce gas |
1167 | // higth gradient --> D control part |
1167 | // higth gradient --> D control part |
1168 | h -= (HightD * FCParam.Hight_D) / 8; // D control part |
1168 | h -= (HeightD * FCParam.Height_D) / 8; // D control part |
1169 | // acceleration sensor effect |
1169 | // acceleration sensor effect |
1170 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32; |
1170 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
1171 | if(tmp_int > 50) tmp_int = 50; |
1171 | if(tmp_int > 50) tmp_int = 50; |
1172 | if(tmp_int < -50) tmp_int = -50; |
1172 | if(tmp_int < -50) tmp_int = -50; |
1173 | h -= tmp_int; |
1173 | h -= tmp_int; |
1174 | // update hight control thrust |
1174 | // update hight control thrust |
1175 | HightControlThrust = (HightControlThrust*15 + h) / 16; |
1175 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
1176 | // limit thrust reduction |
1176 | // limit thrust reduction |
1177 | if(HightControlThrust < ParamSet.Hight_MinThrust) |
1177 | if(HeightControlThrust < ParamSet.Height_MinThrust) |
1178 | { |
1178 | { |
1179 | if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust; |
1179 | if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
1180 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1180 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1181 | if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction; |
1181 | if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
1182 | } |
1182 | } |
1183 | // limit thrust to stick setting |
1183 | // limit thrust to stick setting |
1184 | if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction; |
1184 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
1185 | ThrustMixFraction = HightControlThrust; |
1185 | ThrustMixFraction = HeightControlThrust; |
1186 | } |
1186 | } |
1187 | } |
1187 | } |
1188 | // limit thrust to parameter setting |
1188 | // limit thrust to parameter setting |
1189 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1189 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1190 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1190 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1191 | // + Mixer and PI-Controller |
1191 | // + Mixer and PI-Controller |
1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1193 | DebugOut.Analog[7] = ThrustMixFraction; |
1193 | DebugOut.Analog[7] = ThrustMixFraction; |
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | // Yaw-Fraction |
1195 | // Yaw-Fraction |
1196 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1196 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1197 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1198 | 1198 | ||
1199 | // limit YawMixFraction |
1199 | // limit YawMixFraction |
1200 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1200 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1201 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1201 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1202 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1202 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1203 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1203 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1204 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1204 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | // Pitch-Axis |
1206 | // Pitch-Axis |
1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1208 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1209 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1209 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1210 | else SumPitch += DiffPitch; // I-part for head holding |
1210 | else SumPitch += DiffPitch; // I-part for head holding |
1211 | if(SumPitch > 16000) SumPitch = 16000; |
1211 | if(SumPitch > 16000) SumPitch = 16000; |
1212 | if(SumPitch < -16000) SumPitch = -16000; |
1212 | if(SumPitch < -16000) SumPitch = -16000; |
1213 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1213 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1214 | 1214 | ||
1215 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1215 | 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; |
1216 | if(pd_result > tmp_int) pd_result = tmp_int; |
1217 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1217 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1218 | 1218 | ||
1219 | // Motor Front |
1219 | // Motor Front |
1220 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1220 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1221 | if ((MotorValue < 0)) MotorValue = 0; |
1221 | if ((MotorValue < 0)) MotorValue = 0; |
1222 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1222 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1223 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1223 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1224 | Motor_Front = MotorValue; |
1224 | Motor_Front = MotorValue; |
1225 | 1225 | ||
1226 | // Motor Rear |
1226 | // Motor Rear |
1227 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1227 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1228 | if ((MotorValue < 0)) MotorValue = 0; |
1228 | if ((MotorValue < 0)) MotorValue = 0; |
1229 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1229 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1230 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1230 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1231 | Motor_Rear = MotorValue; |
1231 | Motor_Rear = MotorValue; |
1232 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1232 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1233 | // Roll-Axis |
1233 | // Roll-Axis |
1234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1235 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1235 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1236 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1236 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1237 | else SumRoll += DiffRoll; // I-part for head holding |
1237 | else SumRoll += DiffRoll; // I-part for head holding |
1238 | if(SumRoll > 16000) SumRoll = 16000; |
1238 | if(SumRoll > 16000) SumRoll = 16000; |
1239 | if(SumRoll < -16000) SumRoll = -16000; |
1239 | if(SumRoll < -16000) SumRoll = -16000; |
1240 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1240 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1241 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1241 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1242 | if(pd_result > tmp_int) pd_result = tmp_int; |
1242 | if(pd_result > tmp_int) pd_result = tmp_int; |
1243 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1243 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1244 | 1244 | ||
1245 | // Motor Left |
1245 | // Motor Left |
1246 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1246 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1247 | if ((MotorValue < 0)) MotorValue = 0; |
1247 | if ((MotorValue < 0)) MotorValue = 0; |
1248 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1248 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1249 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1249 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1250 | Motor_Left = MotorValue; |
1250 | Motor_Left = MotorValue; |
1251 | 1251 | ||
1252 | // Motor Right |
1252 | // Motor Right |
1253 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1253 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1254 | if ((MotorValue < 0)) MotorValue = 0; |
1254 | if ((MotorValue < 0)) MotorValue = 0; |
1255 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1255 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1256 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1256 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1257 | Motor_Right = MotorValue; |
1257 | Motor_Right = MotorValue; |
1258 | } |
1258 | } |
1259 | 1259 | ||
1260 | 1260 |