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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 | #include "led.h" |
73 | #include "led.h" |
74 | 74 | ||
75 | volatile uint16_t I2CTimeout = 100; |
75 | volatile uint16_t I2CTimeout = 100; |
76 | // gyro readings |
76 | // gyro readings |
77 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
77 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
78 | // gyro neutral readings |
78 | // gyro neutral readings |
79 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
79 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
80 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
80 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
81 | // mean accelerations |
81 | // mean accelerations |
82 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
82 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
83 | 83 | ||
84 | // neutral acceleration readings |
84 | // neutral acceleration readings |
85 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
85 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
86 | volatile float NeutralAccZ = 0; |
86 | volatile float NeutralAccZ = 0; |
87 | 87 | ||
88 | // attitude gyro integrals |
88 | // attitude gyro integrals |
89 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
89 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
90 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
90 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
91 | volatile int32_t IntegralYaw = 0; |
91 | volatile int32_t IntegralYaw = 0; |
92 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
92 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
93 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
93 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
94 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
94 | volatile int32_t Reading_IntegralGyroYaw = 0, Reading_IntegralGyroYaw2 = 0; |
95 | volatile int32_t MeanIntegralPitch; |
95 | volatile int32_t MeanIntegralPitch; |
96 | volatile int32_t MeanIntegralRoll; |
96 | volatile int32_t MeanIntegralRoll; |
97 | 97 | ||
98 | // attitude acceleration integrals |
98 | // attitude acceleration integrals |
99 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
99 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
100 | volatile int32_t Reading_Integral_Top = 0; |
100 | volatile int32_t Reading_Integral_Top = 0; |
101 | 101 | ||
102 | // compass course |
102 | // compass course |
103 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
103 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
104 | volatile int16_t CompassCourse = -1; |
104 | volatile int16_t CompassCourse = -1; |
105 | volatile int16_t CompassOffCourse = 0; |
105 | volatile int16_t CompassOffCourse = 0; |
106 | 106 | ||
107 | // flags |
107 | // flags |
108 | uint8_t MotorsOn = 0; |
108 | uint8_t MotorsOn = 0; |
109 | uint8_t EmergencyLanding = 0; |
109 | uint8_t EmergencyLanding = 0; |
110 | 110 | ||
111 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
111 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
112 | 112 | ||
113 | float Gyro_P_Factor; |
113 | float Gyro_P_Factor; |
114 | float Gyro_I_Factor; |
114 | float Gyro_I_Factor; |
115 | 115 | ||
116 | volatile int16_t DiffPitch, DiffRoll; |
116 | volatile int16_t DiffPitch, DiffRoll; |
117 | 117 | ||
118 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
118 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
119 | 119 | ||
120 | // setpoints for motors |
120 | // setpoints for motors |
121 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
121 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
122 | 122 | ||
123 | // stick values derived by rc channels readings |
123 | // stick values derived by rc channels readings |
124 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
124 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
125 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
125 | int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0; |
126 | // stick values derived by uart inputs |
126 | // stick values derived by uart inputs |
127 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
127 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
128 | 128 | ||
129 | 129 | ||
130 | 130 | ||
131 | 131 | ||
132 | int16_t ReadingHeight = 0; |
132 | int16_t ReadingHeight = 0; |
133 | int16_t SetPointHeight = 0; |
133 | int16_t SetPointHeight = 0; |
134 | 134 | ||
135 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
135 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
136 | 136 | ||
137 | float Ki = FACTOR_I; |
137 | float Ki = FACTOR_I; |
138 | 138 | ||
139 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
139 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
140 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
140 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
141 | 141 | ||
142 | 142 | ||
143 | 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 | 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}; |
144 | 144 | ||
145 | 145 | ||
146 | /************************************************************************/ |
146 | /************************************************************************/ |
147 | /* Creates numbeeps beeps at the speaker */ |
147 | /* Creates numbeeps beeps at the speaker */ |
148 | /************************************************************************/ |
148 | /************************************************************************/ |
149 | void Beep(uint8_t numbeeps) |
149 | void Beep(uint8_t numbeeps) |
150 | { |
150 | { |
151 | while(numbeeps--) |
151 | while(numbeeps--) |
152 | { |
152 | { |
153 | if(MotorsOn) return; //auf keinen Fall im Flug! |
153 | if(MotorsOn) return; //auf keinen Fall im Flug! |
154 | BeepTime = 100; // 0.1 second |
154 | BeepTime = 100; // 0.1 second |
155 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
155 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
156 | // this will block the flight control loop, |
156 | // this will block the flight control loop, |
157 | // therefore do not use this funktion if motors are running |
157 | // therefore do not use this funktion if motors are running |
158 | } |
158 | } |
159 | } |
159 | } |
160 | 160 | ||
161 | /************************************************************************/ |
161 | /************************************************************************/ |
162 | /* Neutral Readings */ |
162 | /* Neutral Readings */ |
163 | /************************************************************************/ |
163 | /************************************************************************/ |
164 | void SetNeutral(void) |
164 | void SetNeutral(void) |
165 | { |
165 | { |
166 | NeutralAccX = 0; |
166 | NeutralAccX = 0; |
167 | NeutralAccY = 0; |
167 | NeutralAccY = 0; |
168 | NeutralAccZ = 0; |
168 | NeutralAccZ = 0; |
169 | AdNeutralPitch = 0; |
169 | AdNeutralPitch = 0; |
170 | AdNeutralRoll = 0; |
170 | AdNeutralRoll = 0; |
171 | AdNeutralYaw = 0; |
171 | AdNeutralYaw = 0; |
172 | FCParam.Yaw_PosFeedback = 0; |
172 | FCParam.Yaw_PosFeedback = 0; |
173 | FCParam.Yaw_NegFeedback = 0; |
173 | FCParam.Yaw_NegFeedback = 0; |
174 | CalibMean(); |
174 | CalibMean(); |
175 | Delay_ms_Mess(100); |
175 | Delay_ms_Mess(100); |
176 | CalibMean(); |
176 | CalibMean(); |
177 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
177 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
178 | { |
178 | { |
179 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
179 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
180 | } |
180 | } |
181 | AdNeutralPitch = AdValueGyrPitch; |
181 | AdNeutralPitch = AdValueGyrPitch; |
182 | AdNeutralRoll = AdValueGyrRoll; |
182 | AdNeutralRoll = AdValueGyrRoll; |
183 | AdNeutralYaw = AdValueGyrYaw; |
183 | AdNeutralYaw = AdValueGyrYaw; |
184 | StartNeutralRoll = AdNeutralRoll; |
184 | StartNeutralRoll = AdNeutralRoll; |
185 | StartNeutralPitch = AdNeutralPitch; |
185 | StartNeutralPitch = AdNeutralPitch; |
186 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
186 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
187 | { |
187 | { |
188 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
188 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
189 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
189 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
190 | NeutralAccZ = Current_AccZ; |
190 | NeutralAccZ = Current_AccZ; |
191 | } |
191 | } |
192 | else |
192 | else |
193 | { |
193 | { |
194 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
194 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
195 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
195 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
196 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
196 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
197 | } |
197 | } |
198 | Reading_IntegralGyroPitch = 0; |
198 | Reading_IntegralGyroPitch = 0; |
199 | Reading_IntegralGyroPitch2 = 0; |
199 | Reading_IntegralGyroPitch2 = 0; |
200 | Reading_IntegralGyroRoll = 0; |
200 | Reading_IntegralGyroRoll = 0; |
201 | Reading_IntegralGyroRoll2 = 0; |
201 | Reading_IntegralGyroRoll2 = 0; |
202 | Reading_IntegralGyroYaw = 0; |
202 | Reading_IntegralGyroYaw = 0; |
203 | Reading_GyroPitch = 0; |
203 | Reading_GyroPitch = 0; |
204 | Reading_GyroRoll = 0; |
204 | Reading_GyroRoll = 0; |
205 | Reading_GyroYaw = 0; |
205 | Reading_GyroYaw = 0; |
206 | StartAirPressure = AirPressure; |
206 | StartAirPressure = AirPressure; |
207 | HeightD = 0; |
207 | HeightD = 0; |
208 | Reading_Integral_Top = 0; |
208 | Reading_Integral_Top = 0; |
209 | CompassCourse = CompassHeading; |
209 | CompassCourse = CompassHeading; |
210 | BeepTime = 50; |
210 | BeepTime = 50; |
211 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
211 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
212 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
212 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
213 | ExternHeightValue = 0; |
213 | ExternHeightValue = 0; |
214 | GPS_Neutral(); |
214 | GPS_Neutral(); |
215 | } |
215 | } |
216 | 216 | ||
217 | /************************************************************************/ |
217 | /************************************************************************/ |
218 | /* Averaging Measurement Readings */ |
218 | /* Averaging Measurement Readings */ |
219 | /************************************************************************/ |
219 | /************************************************************************/ |
220 | void Mean(void) |
220 | void Mean(void) |
221 | { |
221 | { |
222 | static int32_t tmpl,tmpl2; |
222 | static int32_t tmpl,tmpl2; |
223 | 223 | ||
224 | // Get offset corrected gyro readings (~ to angular velocity) |
224 | // Get offset corrected gyro readings (~ to angular velocity) |
225 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
225 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
226 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
226 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
227 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
227 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
228 | 228 | ||
229 | DebugOut.Analog[26] = Reading_GyroPitch; |
229 | DebugOut.Analog[26] = Reading_GyroPitch; |
230 | DebugOut.Analog[28] = Reading_GyroRoll; |
230 | DebugOut.Analog[28] = Reading_GyroRoll; |
231 | 231 | ||
232 | // Acceleration Sensor |
232 | // Acceleration Sensor |
233 | // sliding average sensor readings |
233 | // sliding average sensor readings |
234 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
234 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
235 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
235 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
236 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
236 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
237 | 237 | ||
238 | // sum sensor readings for later averaging |
238 | // sum sensor readings for later averaging |
239 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
239 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
240 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
240 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
241 | 241 | ||
242 | // Yaw |
242 | // Yaw |
243 | // calculate yaw gyro intergral (~ to rotation angle) |
243 | // calculate yaw gyro intergral (~ to rotation angle) |
244 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
244 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
245 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
245 | Reading_IntegralGyroYaw2 += Reading_GyroYaw; |
246 | // Coupling fraction |
246 | // Coupling fraction |
247 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
247 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
248 | { |
248 | { |
249 | tmpl = Reading_IntegralGyroPitch / 4096L; |
249 | tmpl = Reading_IntegralGyroPitch / 4096L; |
250 | tmpl *= Reading_GyroYaw; |
250 | tmpl *= Reading_GyroYaw; |
251 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
251 | tmpl *= FCParam.Yaw_PosFeedback; //125 |
252 | tmpl /= 2048L; |
252 | tmpl /= 2048L; |
253 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
253 | tmpl2 = Reading_IntegralGyroRoll / 4096L; |
254 | tmpl2 *= Reading_GyroYaw; |
254 | tmpl2 *= Reading_GyroYaw; |
255 | tmpl2 *= FCParam.Yaw_PosFeedback; |
255 | tmpl2 *= FCParam.Yaw_PosFeedback; |
256 | tmpl2 /= 2048L; |
256 | tmpl2 /= 2048L; |
257 | } |
257 | } |
258 | else tmpl = tmpl2 = 0; |
258 | else tmpl = tmpl2 = 0; |
259 | 259 | ||
260 | // Roll |
260 | // Roll |
261 | Reading_GyroRoll += tmpl; |
261 | Reading_GyroRoll += tmpl; |
262 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
262 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
263 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
263 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
264 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
264 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
265 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
265 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
266 | { |
266 | { |
267 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
267 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
268 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
268 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
269 | } |
269 | } |
270 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
270 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
271 | { |
271 | { |
272 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
272 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
273 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
273 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
274 | } |
274 | } |
275 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
275 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
276 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
276 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
277 | if(BoardRelease == 10) |
277 | if(BoardRelease == 10) |
278 | { |
278 | { |
279 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
279 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
280 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
280 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
281 | } |
281 | } |
282 | else |
282 | else |
283 | { |
283 | { |
284 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
284 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
285 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
285 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
286 | } |
286 | } |
287 | // Pitch |
287 | // Pitch |
288 | Reading_GyroPitch -= tmpl2; |
288 | Reading_GyroPitch -= tmpl2; |
289 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
289 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
290 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
290 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
291 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
291 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
292 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
292 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
293 | { |
293 | { |
294 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
294 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
295 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
295 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
296 | } |
296 | } |
297 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
297 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
298 | { |
298 | { |
299 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
299 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
300 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
300 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
301 | } |
301 | } |
302 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
302 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
303 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
303 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
304 | if(BoardRelease == 10) |
304 | if(BoardRelease == 10) |
305 | { |
305 | { |
306 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
306 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
307 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
307 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
308 | } |
308 | } |
309 | else |
309 | else |
310 | { |
310 | { |
311 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
311 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
312 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
312 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
313 | } |
313 | } |
314 | 314 | ||
315 | // start ADC |
315 | // start ADC |
316 | ADC_Enable(); |
316 | ADC_Enable(); |
317 | 317 | ||
318 | IntegralYaw = Reading_IntegralGyroYaw; |
318 | IntegralYaw = Reading_IntegralGyroYaw; |
319 | IntegralPitch = Reading_IntegralGyroPitch; |
319 | IntegralPitch = Reading_IntegralGyroPitch; |
320 | IntegralRoll = Reading_IntegralGyroRoll; |
320 | IntegralRoll = Reading_IntegralGyroRoll; |
321 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
321 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
322 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
322 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
323 | 323 | ||
324 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
324 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
325 | { |
325 | { |
326 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
326 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
327 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
327 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
328 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
328 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
329 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
329 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
330 | } |
330 | } |
331 | //update poti values by rc-signals |
331 | //update poti values by rc-signals |
332 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
332 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
333 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
333 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
334 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
334 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
335 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
335 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
336 | //limit poti values |
336 | //limit poti values |
337 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
337 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
338 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
338 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
339 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
339 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
340 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
340 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
341 | } |
341 | } |
342 | 342 | ||
343 | /************************************************************************/ |
343 | /************************************************************************/ |
344 | /* Averaging Measurement Readings for Calibration */ |
344 | /* Averaging Measurement Readings for Calibration */ |
345 | /************************************************************************/ |
345 | /************************************************************************/ |
346 | void CalibMean(void) |
346 | void CalibMean(void) |
347 | { |
347 | { |
348 | // stop ADC to avoid changing values during calculation |
348 | // stop ADC to avoid changing values during calculation |
349 | ADC_Disable(); |
349 | ADC_Disable(); |
350 | 350 | ||
351 | Reading_GyroPitch = AdValueGyrPitch; |
351 | Reading_GyroPitch = AdValueGyrPitch; |
352 | Reading_GyroRoll = AdValueGyrRoll; |
352 | Reading_GyroRoll = AdValueGyrRoll; |
353 | Reading_GyroYaw = AdValueGyrYaw; |
353 | Reading_GyroYaw = AdValueGyrYaw; |
354 | 354 | ||
355 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
355 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
356 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
356 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
357 | Mean_AccTop = (int32_t)AdValueAccTop; |
357 | Mean_AccTop = (int32_t)AdValueAccTop; |
358 | // start ADC (enables internal trigger so that the ISR in analog.c |
358 | // start ADC (enables internal trigger so that the ISR in analog.c |
359 | // updates the readings once) |
359 | // updates the readings once) |
360 | ADC_Enable(); |
360 | ADC_Enable(); |
361 | //update poti values by rc-signals |
361 | //update poti values by rc-signals |
362 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
362 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
363 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
363 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
364 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
364 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
365 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
365 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
366 | 366 | ||
367 | //PPM24-Extension |
367 | //PPM24-Extension |
368 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
368 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
369 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
369 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
370 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
370 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
371 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
371 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
372 | 372 | ||
373 | //limit poti values |
373 | //limit poti values |
374 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
374 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
375 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
375 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
376 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
376 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
377 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
377 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
378 | //PPM24-Extension |
378 | //PPM24-Extension |
379 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
379 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
380 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
380 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
381 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
381 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
382 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
382 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
383 | 383 | ||
384 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
384 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
385 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
385 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
386 | } |
386 | } |
387 | 387 | ||
388 | /************************************************************************/ |
388 | /************************************************************************/ |
389 | /* Transmit Motor Data via I2C */ |
389 | /* Transmit Motor Data via I2C */ |
390 | /************************************************************************/ |
390 | /************************************************************************/ |
391 | void SendMotorData(void) |
391 | void SendMotorData(void) |
392 | { |
392 | { |
393 | if(MOTOR_OFF || !MotorsOn) |
393 | if(MOTOR_OFF || !MotorsOn) |
394 | { |
394 | { |
395 | Motor_Rear = 0; |
395 | Motor_Rear = 0; |
396 | Motor_Front = 0; |
396 | Motor_Front = 0; |
397 | Motor_Right = 0; |
397 | Motor_Right = 0; |
398 | Motor_Left = 0; |
398 | Motor_Left = 0; |
399 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
399 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
400 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
400 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
401 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
401 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
402 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
402 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
403 | } |
403 | } |
404 | 404 | ||
405 | //DebugOut.Analog[12] = Motor_Front; |
405 | //DebugOut.Analog[12] = Motor_Front; |
406 | //DebugOut.Analog[13] = Motor_Rear; |
406 | //DebugOut.Analog[13] = Motor_Rear; |
407 | //DebugOut.Analog[14] = Motor_Left; |
407 | //DebugOut.Analog[14] = Motor_Left; |
408 | //DebugOut.Analog[15] = Motor_Right; |
408 | //DebugOut.Analog[15] = Motor_Right; |
409 | 409 | ||
410 | //Start I2C Interrupt Mode |
410 | //Start I2C Interrupt Mode |
411 | twi_state = 0; |
411 | twi_state = 0; |
412 | motor = 0; |
412 | motor = 0; |
413 | I2C_Start(); |
413 | I2C_Start(); |
414 | } |
414 | } |
415 | 415 | ||
416 | 416 | ||
417 | 417 | ||
418 | /************************************************************************/ |
418 | /************************************************************************/ |
419 | /* Maps the parameter to poti values */ |
419 | /* Maps the parameter to poti values */ |
420 | /************************************************************************/ |
420 | /************************************************************************/ |
421 | void ParameterMapping(void) |
421 | void ParameterMapping(void) |
422 | { |
422 | { |
423 | if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok |
423 | if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok |
424 | // else the last updated values are used |
424 | // else the last updated values are used |
425 | { |
425 | { |
426 | #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;} |
426 | #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;} |
427 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
427 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
428 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
428 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
429 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
429 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
430 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
430 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
431 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
431 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
432 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
432 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
433 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
433 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
434 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
434 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
435 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
435 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
436 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
436 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
437 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
437 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
438 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
438 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
439 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
439 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
440 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
440 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
441 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
441 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
442 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
442 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
443 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
443 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
444 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
444 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
445 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
445 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
446 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
446 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
447 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
447 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
448 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
448 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
449 | } |
449 | } |
450 | } |
450 | } |
451 | 451 | ||
452 | 452 | ||
453 | /************************************************************************/ |
453 | /************************************************************************/ |
454 | /* MotorControl */ |
454 | /* MotorControl */ |
455 | /************************************************************************/ |
455 | /************************************************************************/ |
456 | void MotorControl(void) |
456 | void MotorControl(void) |
457 | { |
457 | { |
458 | int16_t MotorValue, pd_result, h, tmp_int; |
458 | int16_t MotorValue, pd_result, h, tmp_int; |
459 | int16_t YawMixFraction, ThrustMixFraction; |
459 | int16_t YawMixFraction, ThrustMixFraction; |
460 | static int32_t SumPitch = 0, SumRoll = 0; |
460 | static int32_t SumPitch = 0, SumRoll = 0; |
461 | static int32_t SetPointYaw = 0; |
461 | static int32_t SetPointYaw = 0; |
462 | static int32_t IntegralErrorPitch = 0; |
462 | static int32_t IntegralErrorPitch = 0; |
463 | static int32_t IntegralErrorRoll = 0; |
463 | static int32_t IntegralErrorRoll = 0; |
464 | static uint16_t RcLostTimer; |
464 | static uint16_t RcLostTimer; |
465 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
465 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
466 | static uint16_t Model_Is_Flying = 0; |
466 | static uint16_t Model_Is_Flying = 0; |
467 | static uint8_t HeightControlActive = 0; |
467 | static uint8_t HeightControlActive = 0; |
468 | static int16_t HeightControlThrust = 0; |
468 | static int16_t HeightControlThrust = 0; |
469 | static int8_t TimerDebugOut = 0; |
469 | static int8_t TimerDebugOut = 0; |
470 | static int8_t StoreNewCompassCourse = 0; |
470 | static int8_t StoreNewCompassCourse = 0; |
471 | static int32_t CorrectionPitch, CorrectionRoll; |
471 | static int32_t CorrectionPitch, CorrectionRoll; |
472 | 472 | ||
473 | Mean(); |
473 | Mean(); |
474 | GRN_ON; |
474 | GRN_ON; |
475 | 475 | ||
476 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
476 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
477 | // determine thrust value |
477 | // determine thrust value |
478 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
478 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
479 | ThrustMixFraction = StickThrust; |
479 | ThrustMixFraction = StickThrust; |
480 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
480 | if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
481 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
481 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
482 | // RC-signal is bad |
482 | // RC-signal is bad |
483 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
483 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
484 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
484 | // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
485 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
485 | // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
486 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
486 | // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
487 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
487 | // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
488 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
488 | // the main loop is running 11 times that decrements the SenderOkay by 11. |
489 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
489 | if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
490 | { |
490 | { |
491 | if(!PcAccess) // if also no PC-Access via UART |
491 | if(!PcAccess) // if also no PC-Access via UART |
492 | { |
492 | { |
493 | if(BeepModulation == 0xFFFF) |
493 | if(BeepModulation == 0xFFFF) |
494 | { |
494 | { |
495 | BeepTime = 15000; // 1.5 seconds |
495 | BeepTime = 15000; // 1.5 seconds |
496 | BeepModulation = 0x0C00; |
496 | BeepModulation = 0x0C00; |
497 | } |
497 | } |
498 | } |
498 | } |
499 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
499 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
500 | else // rc lost countdown finished |
500 | else // rc lost countdown finished |
501 | { |
501 | { |
502 | MotorsOn = 0; // stop all motors |
502 | MotorsOn = 0; // stop all motors |
503 | EmergencyLanding = 0; // emergency landing is over |
503 | EmergencyLanding = 0; // emergency landing is over |
504 | } |
504 | } |
505 | ROT_ON; // set red led |
505 | ROT_ON; // set red led |
506 | if(Model_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
506 | if(Model_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
507 | { |
507 | { |
508 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
508 | ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
509 | EmergencyLanding = 1; // enable emergency landing |
509 | EmergencyLanding = 1; // enable emergency landing |
510 | // set neutral rc inputs |
510 | // set neutral rc inputs |
511 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
511 | PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
512 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
512 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
513 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
513 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
514 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
514 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
515 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
515 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
516 | } |
516 | } |
517 | else MotorsOn = 0; // switch of all motors |
517 | else MotorsOn = 0; // switch of all motors |
518 | } // eof SenderOkay < 100 |
518 | } // eof SenderOkay < 100 |
519 | else |
519 | else |
520 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
520 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
521 | // RC-signal is good |
521 | // RC-signal is good |
522 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
522 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
523 | if(SenderOkay > 140) |
523 | if(SenderOkay > 140) |
524 | { |
524 | { |
525 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
525 | EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
526 | // reset emergency timer |
526 | // reset emergency timer |
527 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
527 | RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
528 | if(ThrustMixFraction > 40) |
528 | if(ThrustMixFraction > 40) |
529 | { |
529 | { |
530 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
530 | if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
531 | } |
531 | } |
532 | if((Model_Is_Flying < 200) || (ThrustMixFraction < 40)) |
532 | if((Model_Is_Flying < 200) || (ThrustMixFraction < 40)) |
533 | { |
533 | { |
534 | SumPitch = 0; |
534 | SumPitch = 0; |
535 | SumRoll = 0; |
535 | SumRoll = 0; |
536 | Reading_IntegralGyroYaw = 0; |
536 | Reading_IntegralGyroYaw = 0; |
537 | Reading_IntegralGyroYaw2 = 0; |
537 | Reading_IntegralGyroYaw2 = 0; |
538 | } |
538 | } |
539 | // if motors are off and the thrust stick is in the upper position |
539 | // if motors are off and the thrust stick is in the upper position |
540 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
540 | if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
541 | { |
541 | { |
542 | // and if the yaw stick is in the leftmost position |
542 | // and if the yaw stick is in the leftmost position |
543 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
543 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
544 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
544 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
545 | // calibrate the neutral readings of all attitude sensors |
545 | // calibrate the neutral readings of all attitude sensors |
546 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
546 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
547 | { |
547 | { |
548 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
548 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
549 | { |
549 | { |
550 | delay_neutral = 0; |
550 | delay_neutral = 0; |
551 | GRN_OFF; |
551 | GRN_OFF; |
552 | Model_Is_Flying = 0; |
552 | Model_Is_Flying = 0; |
553 | // check roll/pitch stick position |
553 | // check roll/pitch stick position |
554 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
554 | // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
555 | // according to roll/pitch stick position |
555 | // according to roll/pitch stick position |
556 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
556 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
557 | { |
557 | { |
558 | uint8_t setting = 1; // default |
558 | uint8_t setting = 1; // default |
559 | // _________ |
559 | // _________ |
560 | // |2 3 4| |
560 | // |2 3 4| |
561 | // | | |
561 | // | | |
562 | // |1 5| |
562 | // |1 5| |
563 | // | | |
563 | // | | |
564 | // |_________| |
564 | // |_________| |
565 | // |
565 | // |
566 | // roll stick leftmost and pitch stick centered --> setting 1 |
566 | // roll stick leftmost and pitch stick centered --> setting 1 |
567 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
567 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
568 | // roll stick leftmost and pitch stick topmost --> setting 2 |
568 | // roll stick leftmost and pitch stick topmost --> setting 2 |
569 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
569 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
570 | // roll stick centered an pitch stick topmost --> setting 3 |
570 | // roll stick centered an pitch stick topmost --> setting 3 |
571 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
571 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
572 | // roll stick rightmost and pitch stick topmost --> setting 4 |
572 | // roll stick rightmost and pitch stick topmost --> setting 4 |
573 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
573 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
574 | // roll stick rightmost and pitch stick centered --> setting 5 |
574 | // roll stick rightmost and pitch stick centered --> setting 5 |
575 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
575 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
576 | // update active parameter set in eeprom |
576 | // update active parameter set in eeprom |
577 | SetActiveParamSet(setting); |
577 | SetActiveParamSet(setting); |
578 | } |
578 | } |
579 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
579 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
580 | SetNeutral(); |
580 | SetNeutral(); |
581 | Beep(GetActiveParamSet()); |
581 | Beep(GetActiveParamSet()); |
582 | } |
582 | } |
583 | } |
583 | } |
584 | // and if the yaw stick is in the rightmost position |
584 | // and if the yaw stick is in the rightmost position |
585 | // save the ACC neutral setting to eeprom |
585 | // save the ACC neutral setting to eeprom |
586 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
586 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
587 | { |
587 | { |
588 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
588 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
589 | { |
589 | { |
590 | delay_neutral = 0; |
590 | delay_neutral = 0; |
591 | GRN_OFF; |
591 | GRN_OFF; |
592 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
592 | SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
593 | Model_Is_Flying = 0; |
593 | Model_Is_Flying = 0; |
594 | SetNeutral(); |
594 | SetNeutral(); |
595 | // Save ACC neutral settings to eeprom |
595 | // Save ACC neutral settings to eeprom |
596 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
596 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
597 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
597 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
598 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
598 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
599 | Beep(GetActiveParamSet()); |
599 | Beep(GetActiveParamSet()); |
600 | } |
600 | } |
601 | } |
601 | } |
602 | else delay_neutral = 0; |
602 | else delay_neutral = 0; |
603 | } |
603 | } |
604 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
604 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
605 | // thrust stick is down |
605 | // thrust stick is down |
606 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
606 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
607 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
607 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
608 | { |
608 | { |
609 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
609 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
610 | // and yaw stick is rightmost --> start motors |
610 | // and yaw stick is rightmost --> start motors |
611 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
611 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
612 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
612 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
613 | { |
613 | { |
614 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
614 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
615 | { |
615 | { |
616 | delay_startmotors = 200; // do not repeat if once executed |
616 | delay_startmotors = 200; // do not repeat if once executed |
617 | Model_Is_Flying = 1; |
617 | Model_Is_Flying = 1; |
618 | MotorsOn = 1; |
618 | MotorsOn = 1; |
619 | SetPointYaw = 0; |
619 | SetPointYaw = 0; |
620 | Reading_IntegralGyroYaw = 0; |
620 | Reading_IntegralGyroYaw = 0; |
621 | Reading_IntegralGyroYaw2 = 0; |
621 | Reading_IntegralGyroYaw2 = 0; |
622 | Reading_IntegralGyroPitch = 0; |
622 | Reading_IntegralGyroPitch = 0; |
623 | Reading_IntegralGyroRoll = 0; |
623 | Reading_IntegralGyroRoll = 0; |
624 | Reading_IntegralGyroPitch2 = IntegralPitch; |
624 | Reading_IntegralGyroPitch2 = IntegralPitch; |
625 | Reading_IntegralGyroRoll2 = IntegralRoll; |
625 | Reading_IntegralGyroRoll2 = IntegralRoll; |
626 | SumPitch = 0; |
626 | SumPitch = 0; |
627 | SumRoll = 0; |
627 | SumRoll = 0; |
- | 628 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
|
- | 629 | { |
|
628 | GPS_SetHomePosition(); |
630 | GPS_SetHomePosition(); |
- | 631 | } |
|
629 | } |
632 | } |
630 | } |
633 | } |
631 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
634 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
632 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
633 | // and yaw stick is leftmost --> stop motors |
636 | // and yaw stick is leftmost --> stop motors |
634 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
635 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
638 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
636 | { |
639 | { |
637 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
640 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
638 | { |
641 | { |
639 | delay_stopmotors = 200; // do not repeat if once executed |
642 | delay_stopmotors = 200; // do not repeat if once executed |
640 | Model_Is_Flying = 0; |
643 | Model_Is_Flying = 0; |
641 | MotorsOn = 0; |
644 | MotorsOn = 0; |
- | 645 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
|
- | 646 | { |
|
642 | GPS_ClearHomePosition(); |
647 | GPS_ClearHomePosition(); |
- | 648 | } |
|
643 | } |
649 | } |
644 | } |
650 | } |
645 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
651 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
646 | } |
652 | } |
647 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
653 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
648 | } // eof SenderOkay > 140 |
654 | } // eof SenderOkay > 140 |
649 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
655 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
650 | // new values from RC |
656 | // new values from RC |
651 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
657 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
652 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
658 | if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
653 | { |
659 | { |
654 | int tmp_int; |
660 | int tmp_int; |
655 | ParameterMapping(); // remapping params (online poti replacement) |
661 | ParameterMapping(); // remapping params (online poti replacement) |
656 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
662 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
657 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
663 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
658 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
664 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
659 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
665 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
660 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
666 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
661 | 667 | ||
662 | // direct mapping of yaw and thrust |
668 | // direct mapping of yaw and thrust |
663 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
669 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
664 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
670 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
665 | 671 | ||
666 | // update max stick positions for pitch, roll and yaw |
672 | // update max stick positions for pitch, roll and yaw |
667 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
673 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
668 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
674 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
669 | else MaxStickPitch--; |
675 | else MaxStickPitch--; |
670 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
676 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
671 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
677 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
672 | else MaxStickRoll--; |
678 | else MaxStickRoll--; |
673 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
679 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw) |
674 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
680 | MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
675 | else MaxStickYaw--; |
681 | else MaxStickYaw--; |
676 | 682 | ||
677 | // update gyro control loop factors |
683 | // update gyro control loop factors |
678 | 684 | ||
679 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
685 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
680 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
686 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
681 | 687 | ||
682 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
688 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | // Digital Control via DubWise |
689 | // Digital Control via DubWise |
684 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | 691 | ||
686 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
692 | #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
687 | if(DubWiseKeys[1]) BeepTime = 10; |
693 | if(DubWiseKeys[1]) BeepTime = 10; |
688 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
694 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
689 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
695 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
690 | else tmp_int = 0; |
696 | else tmp_int = 0; |
691 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
697 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
692 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
698 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
693 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
699 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
694 | else tmp_int = 0; |
700 | else tmp_int = 0; |
695 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
701 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
696 | 702 | ||
697 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
703 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
698 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
704 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
699 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
705 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
700 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
706 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
701 | 707 | ||
702 | StickPitch += ExternStickPitch / 8; |
708 | StickPitch += ExternStickPitch / 8; |
703 | StickRoll += ExternStickRoll / 8; |
709 | StickRoll += ExternStickRoll / 8; |
704 | StickYaw += ExternStickYaw; |
710 | StickYaw += ExternStickYaw; |
705 | 711 | ||
706 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
712 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
707 | //+ Analog control via serial communication |
713 | //+ Analog control via serial communication |
708 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
714 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
709 | 715 | ||
710 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
716 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
711 | { |
717 | { |
712 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
718 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
713 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
719 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
714 | StickYaw += ExternControl.Yaw; |
720 | StickYaw += ExternControl.Yaw; |
715 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
721 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
716 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
722 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
717 | } |
723 | } |
718 | // disable I part of gyro control feedback |
724 | // disable I part of gyro control feedback |
719 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
725 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
720 | // avoid negative scaling factors |
726 | // avoid negative scaling factors |
721 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
727 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
722 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
728 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
723 | 729 | ||
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
725 | // Looping? |
731 | // Looping? |
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
732 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
727 | 733 | ||
728 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
734 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
729 | else |
735 | else |
730 | { |
736 | { |
731 | { |
737 | { |
732 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
738 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
733 | } |
739 | } |
734 | } |
740 | } |
735 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
741 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
736 | else |
742 | else |
737 | { |
743 | { |
738 | if(Looping_Right) // Hysterese |
744 | if(Looping_Right) // Hysterese |
739 | { |
745 | { |
740 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
746 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
741 | } |
747 | } |
742 | } |
748 | } |
743 | 749 | ||
744 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
750 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
745 | else |
751 | else |
746 | { |
752 | { |
747 | if(Looping_Top) // Hysterese |
753 | if(Looping_Top) // Hysterese |
748 | { |
754 | { |
749 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
755 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
750 | } |
756 | } |
751 | } |
757 | } |
752 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
758 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
753 | else |
759 | else |
754 | { |
760 | { |
755 | if(Looping_Down) // Hysterese |
761 | if(Looping_Down) // Hysterese |
756 | { |
762 | { |
757 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
763 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
758 | } |
764 | } |
759 | } |
765 | } |
760 | 766 | ||
761 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
767 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
762 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
768 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
763 | } // End of new RC-Values or Emergency Landing |
769 | } // End of new RC-Values or Emergency Landing |
764 | 770 | ||
765 | 771 | ||
766 | if(Looping_Roll) BeepTime = 100; |
772 | if(Looping_Roll) BeepTime = 100; |
767 | if(Looping_Roll || Looping_Pitch) |
773 | if(Looping_Roll || Looping_Pitch) |
768 | { |
774 | { |
769 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
775 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
770 | } |
776 | } |
771 | 777 | ||
772 | 778 | ||
773 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
779 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
774 | //+ LED Control on J16/J17 |
780 | //+ LED Control on J16/J17 |
775 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
776 | LED_OffTime = FCParam.UserParam7; |
782 | LED_OffTime = FCParam.UserParam7; |
777 | LED_OnTime = FCParam.UserParam8; |
783 | LED_OnTime = FCParam.UserParam8; |
778 | LED_Update(); |
784 | LED_Update(); |
779 | 785 | ||
780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | // in case of emergency landing |
787 | // in case of emergency landing |
782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
788 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
783 | // set all inputs to save values |
789 | // set all inputs to save values |
784 | if(EmergencyLanding) |
790 | if(EmergencyLanding) |
785 | { |
791 | { |
786 | StickYaw = 0; |
792 | StickYaw = 0; |
787 | StickPitch = 0; |
793 | StickPitch = 0; |
788 | StickRoll = 0; |
794 | StickRoll = 0; |
789 | Gyro_P_Factor = 0.5; |
795 | Gyro_P_Factor = 0.5; |
790 | Gyro_I_Factor = 0.003; |
796 | Gyro_I_Factor = 0.003; |
791 | Looping_Roll = 0; |
797 | Looping_Roll = 0; |
792 | Looping_Pitch = 0; |
798 | Looping_Pitch = 0; |
793 | MaxStickPitch = 0; |
799 | MaxStickPitch = 0; |
794 | MaxStickRoll = 0; |
800 | MaxStickRoll = 0; |
795 | MaxStickYaw = 0; |
801 | MaxStickYaw = 0; |
796 | } |
802 | } |
797 | 803 | ||
798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
799 | // Trim Gyro-Integrals to ACC-Signals |
805 | // Trim Gyro-Integrals to ACC-Signals |
800 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
806 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
801 | 807 | ||
802 | #define BALANCE_NUMBER 256L |
808 | #define BALANCE_NUMBER 256L |
803 | // sum for averaging |
809 | // sum for averaging |
804 | MeanIntegralPitch += IntegralPitch; |
810 | MeanIntegralPitch += IntegralPitch; |
805 | MeanIntegralRoll += IntegralRoll; |
811 | MeanIntegralRoll += IntegralRoll; |
806 | 812 | ||
807 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
813 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
808 | { |
814 | { |
809 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
815 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
810 | MeasurementCounter = 0; |
816 | MeasurementCounter = 0; |
811 | 817 | ||
812 | IntegralAccPitch = 0; |
818 | IntegralAccPitch = 0; |
813 | IntegralAccRoll = 0; |
819 | IntegralAccRoll = 0; |
814 | 820 | ||
815 | MeanIntegralPitch = 0; |
821 | MeanIntegralPitch = 0; |
816 | MeanIntegralRoll = 0; |
822 | MeanIntegralRoll = 0; |
817 | 823 | ||
818 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
824 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
819 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
825 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
820 | 826 | ||
821 | AttitudeCorrectionPitch = 0; |
827 | AttitudeCorrectionPitch = 0; |
822 | AttitudeCorrectionRoll = 0; |
828 | AttitudeCorrectionRoll = 0; |
823 | } |
829 | } |
824 | 830 | ||
825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
826 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
832 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
827 | { |
833 | { |
828 | int32_t tmp_long, tmp_long2; |
834 | int32_t tmp_long, tmp_long2; |
829 | // determine the deviation of gyro integral from averaged acceleration sensor |
835 | // determine the deviation of gyro integral from averaged acceleration sensor |
830 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
836 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch); |
831 | tmp_long /= 16; |
837 | tmp_long /= 16; |
832 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
838 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll); |
833 | tmp_long2 /= 16; |
839 | tmp_long2 /= 16; |
834 | 840 | ||
835 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
841 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
836 | { |
842 | { |
837 | tmp_long /= 3; |
843 | tmp_long /= 3; |
838 | tmp_long2 /= 3; |
844 | tmp_long2 /= 3; |
839 | } |
845 | } |
840 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
846 | if(MaxStickYaw > 25) // reduce further is yaw stick is active |
841 | { |
847 | { |
842 | tmp_long /= 3; |
848 | tmp_long /= 3; |
843 | tmp_long2 /= 3; |
849 | tmp_long2 /= 3; |
844 | } |
850 | } |
845 | 851 | ||
846 | #define BALANCE 32 |
852 | #define BALANCE 32 |
847 | // limit correction effect |
853 | // limit correction effect |
848 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
854 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
849 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
855 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
850 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
856 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
851 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
857 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
852 | // correct current readings |
858 | // correct current readings |
853 | Reading_IntegralGyroPitch -= tmp_long; |
859 | Reading_IntegralGyroPitch -= tmp_long; |
854 | Reading_IntegralGyroRoll -= tmp_long2; |
860 | Reading_IntegralGyroRoll -= tmp_long2; |
855 | } |
861 | } |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
862 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | // MeasurementCounter is incremented in the isr of analog.c |
863 | // MeasurementCounter is incremented in the isr of analog.c |
858 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
864 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
859 | { |
865 | { |
860 | static int16_t cnt = 0; |
866 | static int16_t cnt = 0; |
861 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
867 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
862 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
868 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
863 | 869 | ||
864 | // if not lopping in any direction (this should be alwais the case, |
870 | // if not lopping in any direction (this should be alwais the case, |
865 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
871 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
866 | if(!Looping_Pitch && !Looping_Roll) |
872 | if(!Looping_Pitch && !Looping_Roll) |
867 | { |
873 | { |
868 | // Calculate mean value of the gyro integrals |
874 | // Calculate mean value of the gyro integrals |
869 | MeanIntegralPitch /= BALANCE_NUMBER; |
875 | MeanIntegralPitch /= BALANCE_NUMBER; |
870 | MeanIntegralRoll /= BALANCE_NUMBER; |
876 | MeanIntegralRoll /= BALANCE_NUMBER; |
871 | 877 | ||
872 | // Calculate mean of the acceleration values |
878 | // Calculate mean of the acceleration values |
873 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
879 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER; |
874 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
880 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER; |
875 | 881 | ||
876 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
877 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
883 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
878 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
884 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
879 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
885 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
880 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
886 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
881 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
888 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
883 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
889 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
884 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
890 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
885 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
891 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
886 | 892 | ||
887 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
893 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25)) |
888 | { |
894 | { |
889 | AttitudeCorrectionPitch /= 2; |
895 | AttitudeCorrectionPitch /= 2; |
890 | AttitudeCorrectionRoll /= 2; |
896 | AttitudeCorrectionRoll /= 2; |
891 | } |
897 | } |
892 | 898 | ||
893 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
899 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
894 | // Gyro-Drift ermitteln |
900 | // Gyro-Drift ermitteln |
895 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
901 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
896 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
902 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
897 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
903 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
898 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
904 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
899 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
905 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
900 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
906 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
901 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
907 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
902 | 908 | ||
903 | 909 | ||
904 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
910 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
905 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
911 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
906 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
912 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
907 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
913 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
908 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
914 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
909 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
915 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
910 | //DebugOut.Analog[28] = CorrectionPitch; |
916 | //DebugOut.Analog[28] = CorrectionPitch; |
911 | DebugOut.Analog[29] = CorrectionRoll; |
917 | DebugOut.Analog[29] = CorrectionRoll; |
912 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
918 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
913 | 919 | ||
914 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
920 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
915 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
921 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
916 | #define MOVEMENT_LIMIT 20000 |
922 | #define MOVEMENT_LIMIT 20000 |
917 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
923 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
918 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
924 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
919 | CorrectionPitch = 0; |
925 | CorrectionPitch = 0; |
920 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
926 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
921 | { |
927 | { |
922 | if(IntegralErrorPitch > ERROR_LIMIT2) |
928 | if(IntegralErrorPitch > ERROR_LIMIT2) |
923 | { |
929 | { |
924 | if(last_n_p) |
930 | if(last_n_p) |
925 | { |
931 | { |
926 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
932 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
927 | CorrectionPitch = IntegralErrorPitch / 8; |
933 | CorrectionPitch = IntegralErrorPitch / 8; |
928 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
934 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
929 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
935 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
930 | } |
936 | } |
931 | else last_n_p = 1; |
937 | else last_n_p = 1; |
932 | } |
938 | } |
933 | else last_n_p = 0; |
939 | else last_n_p = 0; |
934 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
940 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
935 | { |
941 | { |
936 | if(last_n_n) |
942 | if(last_n_n) |
937 | { |
943 | { |
938 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
944 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
939 | CorrectionPitch = IntegralErrorPitch / 8; |
945 | CorrectionPitch = IntegralErrorPitch / 8; |
940 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
946 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
941 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
947 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
942 | } |
948 | } |
943 | else last_n_n = 1; |
949 | else last_n_n = 1; |
944 | } |
950 | } |
945 | else last_n_n = 0; |
951 | else last_n_n = 0; |
946 | } |
952 | } |
947 | else cnt = 0; |
953 | else cnt = 0; |
948 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
954 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
949 | // correct Gyro Offsets |
955 | // correct Gyro Offsets |
950 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
956 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
951 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
957 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
952 | 958 | ||
953 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
959 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
954 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
960 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
955 | CorrectionRoll = 0; |
961 | CorrectionRoll = 0; |
956 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
962 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
957 | { |
963 | { |
958 | if(IntegralErrorRoll > ERROR_LIMIT2) |
964 | if(IntegralErrorRoll > ERROR_LIMIT2) |
959 | { |
965 | { |
960 | if(last_r_p) |
966 | if(last_r_p) |
961 | { |
967 | { |
962 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
968 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
963 | CorrectionRoll = IntegralErrorRoll / 8; |
969 | CorrectionRoll = IntegralErrorRoll / 8; |
964 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
970 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
965 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
971 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
966 | } |
972 | } |
967 | else last_r_p = 1; |
973 | else last_r_p = 1; |
968 | } |
974 | } |
969 | else last_r_p = 0; |
975 | else last_r_p = 0; |
970 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
976 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
971 | { |
977 | { |
972 | if(last_r_n) |
978 | if(last_r_n) |
973 | { |
979 | { |
974 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
980 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
975 | CorrectionRoll = IntegralErrorRoll / 8; |
981 | CorrectionRoll = IntegralErrorRoll / 8; |
976 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
982 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
977 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
983 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
978 | } |
984 | } |
979 | else last_r_n = 1; |
985 | else last_r_n = 1; |
980 | } |
986 | } |
981 | else last_r_n = 0; |
987 | else last_r_n = 0; |
982 | } |
988 | } |
983 | else cnt = 0; |
989 | else cnt = 0; |
984 | // correct Gyro Offsets |
990 | // correct Gyro Offsets |
985 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
991 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
986 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
992 | if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
987 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
993 | if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
988 | 994 | ||
989 | DebugOut.Analog[27] = CorrectionRoll; |
995 | DebugOut.Analog[27] = CorrectionRoll; |
990 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
996 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
991 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
997 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
992 | } |
998 | } |
993 | else // looping is active |
999 | else // looping is active |
994 | { |
1000 | { |
995 | AttitudeCorrectionRoll = 0; |
1001 | AttitudeCorrectionRoll = 0; |
996 | AttitudeCorrectionPitch = 0; |
1002 | AttitudeCorrectionPitch = 0; |
997 | } |
1003 | } |
998 | 1004 | ||
999 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
1005 | // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction |
1000 | if(!Gyro_I_Factor) |
1006 | if(!Gyro_I_Factor) |
1001 | { |
1007 | { |
1002 | AttitudeCorrectionRoll = 0; |
1008 | AttitudeCorrectionRoll = 0; |
1003 | AttitudeCorrectionPitch = 0; |
1009 | AttitudeCorrectionPitch = 0; |
1004 | } |
1010 | } |
1005 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1006 | MeanIntegralPitch_old = MeanIntegralPitch; |
1012 | MeanIntegralPitch_old = MeanIntegralPitch; |
1007 | MeanIntegralRoll_old = MeanIntegralRoll; |
1013 | MeanIntegralRoll_old = MeanIntegralRoll; |
1008 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1014 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1009 | // reset variables used for averaging |
1015 | // reset variables used for averaging |
1010 | IntegralAccPitch = 0; |
1016 | IntegralAccPitch = 0; |
1011 | IntegralAccRoll = 0; |
1017 | IntegralAccRoll = 0; |
1012 | MeanIntegralPitch = 0; |
1018 | MeanIntegralPitch = 0; |
1013 | MeanIntegralRoll = 0; |
1019 | MeanIntegralRoll = 0; |
1014 | MeasurementCounter = 0; |
1020 | MeasurementCounter = 0; |
1015 | } // end of averaging |
1021 | } // end of averaging |
1016 | 1022 | ||
1017 | 1023 | ||
1018 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1019 | // Yawing |
1025 | // Yawing |
1020 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1026 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1021 | if(MaxStickYaw > 20) // yaw stick is activated |
1027 | if(MaxStickYaw > 20) // yaw stick is activated |
1022 | { // if not fixed compass course is set update compass course |
1028 | { // if not fixed compass course is set update compass course |
1023 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
1029 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
1024 | } |
1030 | } |
1025 | // exponential stick sensitivity in yawring rate |
1031 | // exponential stick sensitivity in yawring rate |
1026 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1032 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1027 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1033 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1028 | SetPointYaw = tmp_int; |
1034 | SetPointYaw = tmp_int; |
1029 | Reading_IntegralGyroYaw -= tmp_int; |
1035 | Reading_IntegralGyroYaw -= tmp_int; |
1030 | // limit the effect |
1036 | // limit the effect |
1031 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1037 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1032 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1038 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1033 | 1039 | ||
1034 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1040 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1035 | // Compass |
1041 | // Compass |
1036 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1042 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1037 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1043 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
1038 | { |
1044 | { |
1039 | int16_t w,v; |
1045 | int16_t w,v; |
1040 | static uint8_t updCompass = 0; |
1046 | static uint8_t updCompass = 0; |
1041 | 1047 | ||
1042 | if (!updCompass--) |
1048 | if (!updCompass--) |
1043 | { |
1049 | { |
1044 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1050 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1045 | // get current compass heading (angule between MK head and magnetic north) |
1051 | // get current compass heading (angule between MK head and magnetic north) |
1046 | #ifdef USE_MM3 |
1052 | #ifdef USE_MM3 |
1047 | CompassHeading = MM3_Heading(); |
1053 | CompassHeading = MM3_Heading(); |
1048 | #endif |
1054 | #endif |
1049 | #ifdef USE_CMPS03 |
1055 | #ifdef USE_CMPS03 |
1050 | CompassHeading = CMPS03_Heading(); |
1056 | CompassHeading = CMPS03_Heading(); |
1051 | #endif |
1057 | #endif |
1052 | 1058 | ||
1053 | if (CompassHeading < 0) // no compass data available |
1059 | if (CompassHeading < 0) // no compass data available |
1054 | { |
1060 | { |
1055 | CompassOffCourse = 0; // disables gyro compass correction |
1061 | CompassOffCourse = 0; // disables gyro compass correction |
1056 | } |
1062 | } |
1057 | else // calculate OffCourse (angular deviation from heading to course) |
1063 | else // calculate OffCourse (angular deviation from heading to course) |
1058 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1064 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
1059 | } |
1065 | } |
1060 | 1066 | ||
1061 | // reduce compass effect with increasing declination |
1067 | // reduce compass effect with increasing declination |
1062 | w = abs(IntegralPitch / 512); |
1068 | w = abs(IntegralPitch / 512); |
1063 | v = abs(IntegralRoll / 512); |
1069 | v = abs(IntegralRoll / 512); |
1064 | if(v > w) w = v; // get maximum declination |
1070 | if(v > w) w = v; // get maximum declination |
1065 | // if declination is small enough then update compass course if neccessary |
1071 | // if declination is small enough then update compass course if neccessary |
1066 | if((w < 35) && StoreNewCompassCourse && (CompassHeading>=0) ) // 35 corresponds to a declination of ~14 deg |
1072 | if((w < 35) && StoreNewCompassCourse && (CompassHeading>=0) ) // 35 corresponds to a declination of ~14 deg |
1067 | { |
1073 | { |
1068 | CompassCourse = CompassHeading; |
1074 | CompassCourse = CompassHeading; |
1069 | StoreNewCompassCourse = 0; |
1075 | StoreNewCompassCourse = 0; |
1070 | } |
1076 | } |
1071 | w = (w * FCParam.CompassYawEffect) / 64; // (w=0 for 64->~25 deg, 128->~50 deg) for higher declinaions the compass drift compensation is disabled |
1077 | w = (w * FCParam.CompassYawEffect) / 64; // (w=0 for 64->~25 deg, 128->~50 deg) for higher declinaions the compass drift compensation is disabled |
1072 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
1078 | w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination |
1073 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1079 | if(w > 0) // if there is any compass effect (avoid negative compass feedback) |
1074 | { |
1080 | { |
1075 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1081 | Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
1076 | } |
1082 | } |
1077 | } |
1083 | } |
1078 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1079 | // GPS |
1085 | // GPS |
1080 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1086 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1081 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1087 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1082 | { |
1088 | { |
1083 | GPS_P_Factor = FCParam.UserParam5; |
1089 | GPS_P_Factor = FCParam.UserParam5; |
1084 | GPS_D_Factor = FCParam.UserParam6; |
1090 | GPS_D_Factor = FCParam.UserParam6; |
1085 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
1091 | if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
1086 | else GPS_Main(Poti3); |
1092 | else GPS_Main(Poti3); |
1087 | } |
1093 | } |
1088 | else |
1094 | else |
1089 | { |
1095 | { |
1090 | GPS_Neutral(); |
1096 | GPS_Neutral(); |
1091 | } |
1097 | } |
1092 | 1098 | ||
1093 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1099 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1094 | // Debugwerte zuordnen |
1100 | // Debugwerte zuordnen |
1095 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1096 | if(!TimerDebugOut--) |
1102 | if(!TimerDebugOut--) |
1097 | { |
1103 | { |
1098 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1104 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1099 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1105 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
1100 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1106 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
1101 | DebugOut.Analog[2] = Mean_AccPitch; |
1107 | DebugOut.Analog[2] = Mean_AccPitch; |
1102 | DebugOut.Analog[3] = Mean_AccRoll; |
1108 | DebugOut.Analog[3] = Mean_AccRoll; |
1103 | DebugOut.Analog[4] = Reading_GyroYaw; |
1109 | DebugOut.Analog[4] = Reading_GyroYaw; |
1104 | DebugOut.Analog[5] = ReadingHeight; |
1110 | DebugOut.Analog[5] = ReadingHeight; |
1105 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1111 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
1106 | DebugOut.Analog[8] = CompassHeading; |
1112 | DebugOut.Analog[8] = CompassHeading; |
1107 | DebugOut.Analog[9] = UBat; |
1113 | DebugOut.Analog[9] = UBat; |
1108 | DebugOut.Analog[10] = SenderOkay; |
1114 | DebugOut.Analog[10] = SenderOkay; |
1109 | DebugOut.Analog[16] = Mean_AccTop; |
1115 | DebugOut.Analog[16] = Mean_AccTop; |
1110 | 1116 | ||
1111 | /* DebugOut.Analog[16] = motor_rx[0]; |
1117 | /* DebugOut.Analog[16] = motor_rx[0]; |
1112 | DebugOut.Analog[17] = motor_rx[1]; |
1118 | DebugOut.Analog[17] = motor_rx[1]; |
1113 | DebugOut.Analog[18] = motor_rx[2]; |
1119 | DebugOut.Analog[18] = motor_rx[2]; |
1114 | DebugOut.Analog[19] = motor_rx[3]; |
1120 | DebugOut.Analog[19] = motor_rx[3]; |
1115 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1121 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
1116 | DebugOut.Analog[20] /= 14; |
1122 | DebugOut.Analog[20] /= 14; |
1117 | DebugOut.Analog[21] = motor_rx[4]; |
1123 | DebugOut.Analog[21] = motor_rx[4]; |
1118 | DebugOut.Analog[22] = motor_rx[5]; |
1124 | DebugOut.Analog[22] = motor_rx[5]; |
1119 | DebugOut.Analog[23] = motor_rx[6]; |
1125 | DebugOut.Analog[23] = motor_rx[6]; |
1120 | DebugOut.Analog[24] = motor_rx[7]; |
1126 | DebugOut.Analog[24] = motor_rx[7]; |
1121 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1127 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
1122 | 1128 | ||
1123 | DebugOut.Analog[9] = Reading_GyroPitch; |
1129 | DebugOut.Analog[9] = Reading_GyroPitch; |
1124 | DebugOut.Analog[9] = SetPointHeight; |
1130 | DebugOut.Analog[9] = SetPointHeight; |
1125 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1131 | DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
1126 | DebugOut.Analog[11] = CompassCourse; |
1132 | DebugOut.Analog[11] = CompassCourse; |
1127 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1133 | DebugOut.Analog[10] = FCParam.Gyro_I; |
1128 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1134 | DebugOut.Analog[10] = ParamSet.Gyro_I; |
1129 | DebugOut.Analog[9] = CompassOffCourse; |
1135 | DebugOut.Analog[9] = CompassOffCourse; |
1130 | DebugOut.Analog[10] = ThrustMixFraction; |
1136 | DebugOut.Analog[10] = ThrustMixFraction; |
1131 | DebugOut.Analog[3] = HeightD * 32; |
1137 | DebugOut.Analog[3] = HeightD * 32; |
1132 | DebugOut.Analog[4] = HeightControlThrust; |
1138 | DebugOut.Analog[4] = HeightControlThrust; |
1133 | */ |
1139 | */ |
1134 | } |
1140 | } |
1135 | 1141 | ||
1136 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1142 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1137 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1143 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1138 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1144 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1139 | 1145 | ||
1140 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1146 | if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
1141 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1147 | else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
1142 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1148 | if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
1143 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1149 | else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
1144 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1150 | Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
1145 | 1151 | ||
1146 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1152 | DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
1147 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1153 | DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
1148 | DebugOut.Analog[28] = Reading_GyroRoll; |
1154 | DebugOut.Analog[28] = Reading_GyroRoll; |
1149 | 1155 | ||
1150 | // limit control feedback |
1156 | // limit control feedback |
1151 | #define MAX_SENSOR 2048 |
1157 | #define MAX_SENSOR 2048 |
1152 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1158 | if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
1153 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1159 | if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
1154 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1160 | if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
1155 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1161 | if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
1156 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1162 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1157 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1163 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1158 | 1164 | ||
1159 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1160 | // Height Control |
1166 | // Height Control |
1161 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1167 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1163 | // If hight control is activated and no emergency landing is active |
1169 | // If hight control is activated and no emergency landing is active |
1164 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1170 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1165 | { |
1171 | { |
1166 | int tmp_int; |
1172 | int tmp_int; |
1167 | // if hight control is activated by an rc channel |
1173 | // if hight control is activated by an rc channel |
1168 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1174 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1169 | { // check if parameter is less than activation threshold |
1175 | { // check if parameter is less than activation threshold |
1170 | if(FCParam.MaxHeight < 50) |
1176 | if(FCParam.MaxHeight < 50) |
1171 | { |
1177 | { |
1172 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1178 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1173 | HeightControlActive = 0; // disable hight control |
1179 | HeightControlActive = 0; // disable hight control |
1174 | } |
1180 | } |
1175 | else HeightControlActive = 1; // enable hight control |
1181 | else HeightControlActive = 1; // enable hight control |
1176 | } |
1182 | } |
1177 | else // no switchable hight control |
1183 | else // no switchable hight control |
1178 | { |
1184 | { |
1179 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1185 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1180 | HeightControlActive = 1; |
1186 | HeightControlActive = 1; |
1181 | } |
1187 | } |
1182 | // get current hight |
1188 | // get current hight |
1183 | h = ReadingHeight; |
1189 | h = ReadingHeight; |
1184 | // if current hight is above the setpoint reduce thrust |
1190 | // if current hight is above the setpoint reduce thrust |
1185 | if((h > SetPointHeight) && HeightControlActive) |
1191 | if((h > SetPointHeight) && HeightControlActive) |
1186 | { |
1192 | { |
1187 | // hight difference -> P control part |
1193 | // hight difference -> P control part |
1188 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
1194 | h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
1189 | h = ThrustMixFraction - h; // reduce gas |
1195 | h = ThrustMixFraction - h; // reduce gas |
1190 | // higth gradient --> D control part |
1196 | // higth gradient --> D control part |
1191 | h -= (HeightD * FCParam.Height_D) / 8; // D control part |
1197 | h -= (HeightD * FCParam.Height_D) / 8; // D control part |
1192 | // acceleration sensor effect |
1198 | // acceleration sensor effect |
1193 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
1199 | tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
1194 | if(tmp_int > 50) tmp_int = 50; |
1200 | if(tmp_int > 50) tmp_int = 50; |
1195 | if(tmp_int < -50) tmp_int = -50; |
1201 | if(tmp_int < -50) tmp_int = -50; |
1196 | h -= tmp_int; |
1202 | h -= tmp_int; |
1197 | // update hight control thrust |
1203 | // update hight control thrust |
1198 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
1204 | HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
1199 | // limit thrust reduction |
1205 | // limit thrust reduction |
1200 | if(HeightControlThrust < ParamSet.Height_MinThrust) |
1206 | if(HeightControlThrust < ParamSet.Height_MinThrust) |
1201 | { |
1207 | { |
1202 | if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
1208 | if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
1203 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1209 | // allows landing also if thrust stick is reduced below min thrust on hight control |
1204 | if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
1210 | if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
1205 | } |
1211 | } |
1206 | // limit thrust to stick setting |
1212 | // limit thrust to stick setting |
1207 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
1213 | if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
1208 | ThrustMixFraction = HeightControlThrust; |
1214 | ThrustMixFraction = HeightControlThrust; |
1209 | } |
1215 | } |
1210 | } |
1216 | } |
1211 | // limit thrust to parameter setting |
1217 | // limit thrust to parameter setting |
1212 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1218 | if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
1213 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1214 | // + Mixer and PI-Controller |
1220 | // + Mixer and PI-Controller |
1215 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | DebugOut.Analog[7] = ThrustMixFraction; |
1222 | DebugOut.Analog[7] = ThrustMixFraction; |
1217 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1218 | // Yaw-Fraction |
1224 | // Yaw-Fraction |
1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1220 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1226 | YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
1221 | 1227 | ||
1222 | // limit YawMixFraction |
1228 | // limit YawMixFraction |
1223 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1229 | if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
1224 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1230 | if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
1225 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1231 | if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
1226 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1232 | if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
1227 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1233 | if(ThrustMixFraction < 20) YawMixFraction = 0; |
1228 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1229 | // Pitch-Axis |
1235 | // Pitch-Axis |
1230 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1231 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1237 | DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
1232 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1238 | if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
1233 | else SumPitch += DiffPitch; // I-part for head holding |
1239 | else SumPitch += DiffPitch; // I-part for head holding |
1234 | if(SumPitch > 16000) SumPitch = 16000; |
1240 | if(SumPitch > 16000) SumPitch = 16000; |
1235 | if(SumPitch < -16000) SumPitch = -16000; |
1241 | if(SumPitch < -16000) SumPitch = -16000; |
1236 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1242 | pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
1237 | 1243 | ||
1238 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1244 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1239 | if(pd_result > tmp_int) pd_result = tmp_int; |
1245 | if(pd_result > tmp_int) pd_result = tmp_int; |
1240 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1246 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1241 | 1247 | ||
1242 | // Motor Front |
1248 | // Motor Front |
1243 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1249 | MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
1244 | if ((MotorValue < 0)) MotorValue = 0; |
1250 | if ((MotorValue < 0)) MotorValue = 0; |
1245 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1251 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1246 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1252 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1247 | Motor_Front = MotorValue; |
1253 | Motor_Front = MotorValue; |
1248 | 1254 | ||
1249 | // Motor Rear |
1255 | // Motor Rear |
1250 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1256 | MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
1251 | if ((MotorValue < 0)) MotorValue = 0; |
1257 | if ((MotorValue < 0)) MotorValue = 0; |
1252 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1258 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1253 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1259 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1254 | Motor_Rear = MotorValue; |
1260 | Motor_Rear = MotorValue; |
1255 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1261 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1256 | // Roll-Axis |
1262 | // Roll-Axis |
1257 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1263 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1258 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1264 | DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
1259 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1265 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
1260 | else SumRoll += DiffRoll; // I-part for head holding |
1266 | else SumRoll += DiffRoll; // I-part for head holding |
1261 | if(SumRoll > 16000) SumRoll = 16000; |
1267 | if(SumRoll > 16000) SumRoll = 16000; |
1262 | if(SumRoll < -16000) SumRoll = -16000; |
1268 | if(SumRoll < -16000) SumRoll = -16000; |
1263 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1269 | pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
1264 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1270 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
1265 | if(pd_result > tmp_int) pd_result = tmp_int; |
1271 | if(pd_result > tmp_int) pd_result = tmp_int; |
1266 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1272 | if(pd_result < -tmp_int) pd_result = -tmp_int; |
1267 | 1273 | ||
1268 | // Motor Left |
1274 | // Motor Left |
1269 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1275 | MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
1270 | if ((MotorValue < 0)) MotorValue = 0; |
1276 | if ((MotorValue < 0)) MotorValue = 0; |
1271 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1277 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1272 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1278 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1273 | Motor_Left = MotorValue; |
1279 | Motor_Left = MotorValue; |
1274 | 1280 | ||
1275 | // Motor Right |
1281 | // Motor Right |
1276 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1282 | MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
1277 | if ((MotorValue < 0)) MotorValue = 0; |
1283 | if ((MotorValue < 0)) MotorValue = 0; |
1278 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1284 | else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
1279 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1285 | if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
1280 | Motor_Right = MotorValue; |
1286 | Motor_Right = MotorValue; |
1281 | } |
1287 | } |
1282 | 1288 | ||
1283 | 1289 |