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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 "analog.h" |
60 | #include "analog.h" |
61 | #include "fc.h" |
61 | #include "fc.h" |
62 | #include "uart0.h" |
62 | #include "uart0.h" |
63 | #include "rc.h" |
63 | #include "rc.h" |
64 | #include "twimaster.h" |
64 | #include "twimaster.h" |
65 | #include "timer2.h" |
65 | #include "timer2.h" |
66 | #ifdef USE_KILLAGREG |
66 | #ifdef USE_KILLAGREG |
67 | #include "mm3.h" |
67 | #include "mm3.h" |
68 | #include "gps.h" |
68 | #include "gps.h" |
69 | #endif |
69 | #endif |
70 | #ifdef USE_MK3MAG |
70 | #ifdef USE_MK3MAG |
71 | #include "mk3mag.h" |
71 | #include "mk3mag.h" |
72 | #include "gps.h" |
72 | #include "gps.h" |
73 | #endif |
73 | #endif |
74 | #include "led.h" |
74 | #include "led.h" |
75 | #ifdef USE_NAVICTRL |
75 | #ifdef USE_NAVICTRL |
76 | #include "spi.h" |
76 | #include "spi.h" |
77 | #endif |
77 | #endif |
78 | 78 | ||
79 | 79 | ||
80 | #define STICK_GAIN 4 |
80 | #define STICK_GAIN 4 |
81 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
81 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
82 | 82 | ||
83 | // gyro readings |
83 | // gyro readings |
84 | int16_t GyroNick, GyroRoll, GyroYaw; |
84 | int16_t GyroNick, GyroRoll, GyroYaw; |
85 | 85 | ||
86 | // gyro bias |
86 | // gyro bias |
87 | int16_t BiasHiResGyroNick = 0, BiasHiResGyroRoll = 0, AdBiasGyroYaw = 0; |
87 | int16_t BiasHiResGyroNick = 0, BiasHiResGyroRoll = 0, AdBiasGyroYaw = 0; |
88 | 88 | ||
89 | // accelerations |
89 | // accelerations |
90 | int16_t AccNick, AccRoll, AccTop; |
90 | int16_t AccNick, AccRoll, AccTop; |
91 | 91 | ||
92 | // neutral acceleration readings |
92 | // neutral acceleration readings |
93 | int16_t AdBiasAccNick = 0, AdBiasAccRoll = 0; |
93 | int16_t AdBiasAccNick = 0, AdBiasAccRoll = 0; |
94 | volatile float AdBiasAccTop = 0; |
94 | volatile float AdBiasAccTop = 0; |
95 | // the additive gyro rate corrections according to the axis coupling |
95 | // the additive gyro rate corrections according to the axis coupling |
96 | int16_t TrimNick, TrimRoll; |
96 | int16_t TrimNick, TrimRoll; |
97 | 97 | ||
98 | 98 | ||
99 | // attitude gyro integrals |
99 | // attitude gyro integrals |
100 | int32_t IntegralGyroNick = 0,IntegralGyroNick2 = 0; |
100 | int32_t IntegralGyroNick = 0,IntegralGyroNick2 = 0; |
101 | int32_t IntegralGyroRoll = 0,IntegralGyroRoll2 = 0; |
101 | int32_t IntegralGyroRoll = 0,IntegralGyroRoll2 = 0; |
102 | int32_t IntegralGyroYaw = 0; |
102 | int32_t IntegralGyroYaw = 0; |
103 | int32_t ReadingIntegralGyroNick = 0, ReadingIntegralGyroNick2 = 0; |
103 | int32_t ReadingIntegralGyroNick = 0, ReadingIntegralGyroNick2 = 0; |
104 | int32_t ReadingIntegralGyroRoll = 0, ReadingIntegralGyroRoll2 = 0; |
104 | int32_t ReadingIntegralGyroRoll = 0, ReadingIntegralGyroRoll2 = 0; |
105 | int32_t ReadingIntegralGyroYaw = 0; |
105 | int32_t ReadingIntegralGyroYaw = 0; |
106 | int32_t MeanIntegralGyroNick; |
106 | int32_t MeanIntegralGyroNick; |
107 | int32_t MeanIntegralGyroRoll; |
107 | int32_t MeanIntegralGyroRoll; |
108 | 108 | ||
109 | // attitude acceleration integrals |
109 | // attitude acceleration integrals |
110 | int32_t MeanAccNick = 0, MeanAccRoll = 0; |
110 | int32_t MeanAccNick = 0, MeanAccRoll = 0; |
111 | volatile int32_t ReadingIntegralTop = 0; |
111 | volatile int32_t ReadingIntegralTop = 0; |
112 | 112 | ||
113 | // compass course |
113 | // compass course |
114 | int16_t CompassHeading = -1; // negative angle indicates invalid data. |
114 | int16_t CompassHeading = -1; // negative angle indicates invalid data. |
115 | int16_t CompassCourse = -1; |
115 | int16_t CompassCourse = -1; |
116 | int16_t CompassOffCourse = 0; |
116 | int16_t CompassOffCourse = 0; |
117 | uint8_t CompassCalState = 0; |
117 | uint8_t CompassCalState = 0; |
118 | uint8_t FunnelCourse = 0; |
118 | uint8_t FunnelCourse = 0; |
119 | uint16_t BadCompassHeading = 500; |
119 | uint16_t BadCompassHeading = 500; |
120 | int32_t YawGyroHeading; // Yaw Gyro Integral supported by compass |
120 | int32_t YawGyroHeading; // Yaw Gyro Integral supported by compass |
121 | int16_t YawGyroDrift; |
121 | int16_t YawGyroDrift; |
122 | 122 | ||
123 | 123 | ||
124 | int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
124 | int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
125 | 125 | ||
126 | 126 | ||
127 | // MK flags |
127 | // MK flags |
128 | uint16_t ModelIsFlying = 0; |
128 | uint16_t ModelIsFlying = 0; |
129 | uint8_t volatile MKFlags = 0; |
129 | uint8_t volatile MKFlags = 0; |
130 | 130 | ||
131 | int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
131 | int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
132 | 132 | ||
133 | uint8_t GyroPFactor, GyroIFactor; // the PD factors for the attitude control |
133 | uint8_t GyroPFactor, GyroIFactor; // the PD factors for the attitude control |
134 | uint8_t GyroYawPFactor, GyroYawIFactor; // the PD factors for the yae control |
134 | uint8_t GyroYawPFactor, GyroYawIFactor; // the PD factors for the yae control |
135 | 135 | ||
136 | int16_t Ki = 10300 / 33; |
136 | int16_t Ki = 10300 / 33; |
137 | 137 | ||
138 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
138 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
139 | 139 | ||
140 | 140 | ||
141 | uint8_t RequiredMotors = 0; |
141 | uint8_t RequiredMotors = 0; |
142 | 142 | ||
143 | 143 | ||
144 | // stick values derived by rc channels readings |
144 | // stick values derived by rc channels readings |
145 | int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
145 | int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
146 | int16_t GPSStickNick = 0, GPSStickRoll = 0; |
146 | int16_t GPSStickNick = 0, GPSStickRoll = 0; |
147 | 147 | ||
148 | int16_t MaxStickNick = 0, MaxStickRoll = 0; |
148 | int16_t MaxStickNick = 0, MaxStickRoll = 0; |
149 | 149 | ||
150 | // stick values derived by uart inputs |
150 | // stick values derived by uart inputs |
151 | int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
151 | int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
152 | 152 | ||
153 | int16_t ReadingHeight = 0; |
153 | int16_t ReadingHeight = 0; |
154 | int16_t SetPointHeight = 0; |
154 | int16_t SetPointHeight = 0; |
155 | 155 | ||
156 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
156 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
157 | 157 | ||
158 | uint8_t LoopingNick = 0, LoopingRoll = 0; |
158 | uint8_t LoopingNick = 0, LoopingRoll = 0; |
159 | uint8_t LoopingLeft = 0, LoopingRight = 0, LoopingDown = 0, LoopingTop = 0; |
159 | uint8_t LoopingLeft = 0, LoopingRight = 0, LoopingDown = 0, LoopingTop = 0; |
160 | 160 | ||
161 | 161 | ||
162 | fc_param_t FCParam = {48,251,16,58,64,8,150,150,2,10,0,0,0,0,0,0,0,0,100,70,90,65,64,100,0,0,0}; |
162 | fc_param_t FCParam = {48,251,16,58,64,8,150,150,2,10,0,0,0,0,0,0,0,0,100,70,90,65,64,100,0,0,0}; |
163 | 163 | ||
164 | 164 | ||
165 | 165 | ||
166 | /************************************************************************/ |
166 | /************************************************************************/ |
167 | /* Filter for motor value smoothing */ |
167 | /* Filter for motor value smoothing */ |
168 | /************************************************************************/ |
168 | /************************************************************************/ |
169 | int16_t MotorSmoothing(int16_t newvalue, int16_t oldvalue) |
169 | int16_t MotorSmoothing(int16_t newvalue, int16_t oldvalue) |
170 | { |
170 | { |
171 | int16_t motor; |
171 | int16_t motor; |
172 | if(newvalue > oldvalue) motor = (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
172 | if(newvalue > oldvalue) motor = (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
173 | else motor = newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
173 | else motor = newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
174 | return(motor); |
174 | return(motor); |
175 | } |
175 | } |
176 | 176 | ||
177 | /************************************************************************/ |
177 | /************************************************************************/ |
178 | /* Creates numbeeps beeps at the speaker */ |
178 | /* Creates numbeeps beeps at the speaker */ |
179 | /************************************************************************/ |
179 | /************************************************************************/ |
180 | void Beep(uint8_t numbeeps) |
180 | void Beep(uint8_t numbeeps) |
181 | { |
181 | { |
182 | while(numbeeps--) |
182 | while(numbeeps--) |
183 | { |
183 | { |
184 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
184 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
185 | BeepTime = 100; // 0.1 second |
185 | BeepTime = 100; // 0.1 second |
186 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
186 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
187 | // this will block the flight control loop, |
187 | // this will block the flight control loop, |
188 | // therefore do not use this function if motors are running |
188 | // therefore do not use this function if motors are running |
189 | } |
189 | } |
190 | } |
190 | } |
191 | 191 | ||
192 | /************************************************************************/ |
192 | /************************************************************************/ |
193 | /* Neutral Readings */ |
193 | /* Neutral Readings */ |
194 | /************************************************************************/ |
194 | /************************************************************************/ |
195 | void SetNeutral(uint8_t AccAdjustment) |
195 | void SetNeutral(uint8_t AccAdjustment) |
196 | { |
196 | { |
197 | uint8_t i; |
197 | uint8_t i; |
198 | int32_t Sum_1, Sum_2 = 0, Sum_3; |
198 | int32_t Sum_1, Sum_2 = 0, Sum_3; |
199 | 199 | ||
200 | Servo_Off(); // disable servo output |
200 | Servo_Off(); // disable servo output |
201 | 201 | ||
202 | AdBiasAccNick = 0; |
202 | AdBiasAccNick = 0; |
203 | AdBiasAccRoll = 0; |
203 | AdBiasAccRoll = 0; |
204 | AdBiasAccTop = 0; |
204 | AdBiasAccTop = 0; |
205 | 205 | ||
206 | BiasHiResGyroNick = 0; |
206 | BiasHiResGyroNick = 0; |
207 | BiasHiResGyroRoll = 0; |
207 | BiasHiResGyroRoll = 0; |
208 | AdBiasGyroYaw = 0; |
208 | AdBiasGyroYaw = 0; |
209 | 209 | ||
210 | FCParam.AxisCoupling1 = 0; |
210 | FCParam.AxisCoupling1 = 0; |
211 | FCParam.AxisCoupling2 = 0; |
211 | FCParam.AxisCoupling2 = 0; |
212 | 212 | ||
213 | ExpandBaro = 0; |
213 | ExpandBaro = 0; |
214 | 214 | ||
215 | // sample values with bias set to zero |
215 | // sample values with bias set to zero |
216 | Delay_ms_Mess(100); |
216 | Delay_ms_Mess(100); |
217 | 217 | ||
218 | if(BoardRelease == 13) SearchDacGyroOffset(); |
218 | if(BoardRelease == 13) SearchDacGyroOffset(); |
219 | 219 | ||
220 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
220 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
221 | { |
221 | { |
222 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
222 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
223 | } |
223 | } |
224 | 224 | ||
225 | // determine gyro bias by averaging (require no rotation movement) |
225 | // determine gyro bias by averaging (require no rotation movement) |
226 | #define GYRO_BIAS_AVERAGE 32 |
226 | #define GYRO_BIAS_AVERAGE 32 |
227 | Sum_1 = 0; |
227 | Sum_1 = 0; |
228 | Sum_2 = 0; |
228 | Sum_2 = 0; |
229 | Sum_3 = 0; |
229 | Sum_3 = 0; |
230 | for(i=0; i < GYRO_BIAS_AVERAGE; i++) |
230 | for(i=0; i < GYRO_BIAS_AVERAGE; i++) |
231 | { |
231 | { |
232 | Delay_ms_Mess(10); |
232 | Delay_ms_Mess(10); |
233 | Sum_1 += AdValueGyroNick * HIRES_GYRO_AMPLIFY; |
233 | Sum_1 += AdValueGyroNick * HIRES_GYRO_AMPLIFY; |
234 | Sum_2 += AdValueGyroRoll * HIRES_GYRO_AMPLIFY; |
234 | Sum_2 += AdValueGyroRoll * HIRES_GYRO_AMPLIFY; |
235 | Sum_3 += AdValueGyroYaw; |
235 | Sum_3 += AdValueGyroYaw; |
236 | } |
236 | } |
237 | BiasHiResGyroNick = (int16_t)((Sum_1 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
237 | BiasHiResGyroNick = (int16_t)((Sum_1 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
238 | BiasHiResGyroRoll = (int16_t)((Sum_2 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
238 | BiasHiResGyroRoll = (int16_t)((Sum_2 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
239 | AdBiasGyroYaw = (int16_t)((Sum_3 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
239 | AdBiasGyroYaw = (int16_t)((Sum_3 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
240 | 240 | ||
241 | if(AccAdjustment) |
241 | if(AccAdjustment) |
242 | { |
242 | { |
243 | // determine acc bias by averaging (require horizontal adjustment in nick and roll attitude) |
243 | // determine acc bias by averaging (require horizontal adjustment in nick and roll attitude) |
244 | #define ACC_BIAS_AVERAGE 10 |
244 | #define ACC_BIAS_AVERAGE 10 |
245 | Sum_1 = 0; |
245 | Sum_1 = 0; |
246 | Sum_2 = 0; |
246 | Sum_2 = 0; |
247 | Sum_3 = 0; |
247 | Sum_3 = 0; |
248 | for(i=0; i < ACC_BIAS_AVERAGE; i++) |
248 | for(i=0; i < ACC_BIAS_AVERAGE; i++) |
249 | { |
249 | { |
250 | Delay_ms_Mess(10); |
250 | Delay_ms_Mess(10); |
251 | Sum_1 += AdValueAccNick; |
251 | Sum_1 += AdValueAccNick; |
252 | Sum_2 += AdValueAccRoll; |
252 | Sum_2 += AdValueAccRoll; |
253 | Sum_3 += AdValueAccZ; |
253 | Sum_3 += AdValueAccZ; |
254 | } |
254 | } |
255 | // use abs() to avoid negative bias settings because of adc sign flip in adc.c |
255 | // use abs() to avoid negative bias settings because of adc sign flip in adc.c |
256 | AdBiasAccNick = (int16_t)((abs(Sum_1) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
256 | AdBiasAccNick = (int16_t)((abs(Sum_1) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
257 | AdBiasAccRoll = (int16_t)((abs(Sum_2) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
257 | AdBiasAccRoll = (int16_t)((abs(Sum_2) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
258 | AdBiasAccTop = (int16_t)((abs(Sum_3) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
258 | AdBiasAccTop = (int16_t)((abs(Sum_3) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
259 | 259 | ||
260 | // Save ACC neutral settings to eeprom |
260 | // Save ACC neutral settings to eeprom |
261 | SetParamWord(PID_ACC_NICK, (uint16_t)AdBiasAccNick); |
261 | SetParamWord(PID_ACC_NICK, (uint16_t)AdBiasAccNick); |
262 | SetParamWord(PID_ACC_ROLL, (uint16_t)AdBiasAccRoll); |
262 | SetParamWord(PID_ACC_ROLL, (uint16_t)AdBiasAccRoll); |
263 | SetParamWord(PID_ACC_TOP, (uint16_t)AdBiasAccTop); |
263 | SetParamWord(PID_ACC_TOP, (uint16_t)AdBiasAccTop); |
264 | } |
264 | } |
265 | else // restore from eeprom |
265 | else // restore from eeprom |
266 | { |
266 | { |
267 | AdBiasAccNick = (int16_t)GetParamWord(PID_ACC_NICK); |
267 | AdBiasAccNick = (int16_t)GetParamWord(PID_ACC_NICK); |
268 | AdBiasAccRoll = (int16_t)GetParamWord(PID_ACC_ROLL); |
268 | AdBiasAccRoll = (int16_t)GetParamWord(PID_ACC_ROLL); |
269 | AdBiasAccTop = (int16_t)GetParamWord(PID_ACC_TOP); |
269 | AdBiasAccTop = (int16_t)GetParamWord(PID_ACC_TOP); |
270 | } |
270 | } |
271 | // setting acc bias values has an influence in the analog.c ISR |
271 | // setting acc bias values has an influence in the analog.c ISR |
272 | // therefore run measurement for 100ms to achive stable readings |
272 | // therefore run measurement for 100ms to achive stable readings |
273 | Delay_ms_Mess(100); |
273 | Delay_ms_Mess(100); |
274 | 274 | ||
275 | // reset acc averaging and integrals |
275 | // reset acc averaging and integrals |
276 | AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
276 | AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
277 | AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
277 | AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
278 | AccTop = AdValueAccTop; |
278 | AccTop = AdValueAccTop; |
279 | ReadingIntegralTop = AdValueAccTop; |
279 | ReadingIntegralTop = AdValueAccTop; |
280 | 280 | ||
281 | // and gyro readings |
281 | // and gyro readings |
282 | GyroNick = 0; |
282 | GyroNick = 0; |
283 | GyroRoll = 0; |
283 | GyroRoll = 0; |
284 | GyroYaw = 0; |
284 | GyroYaw = 0; |
285 | 285 | ||
286 | // reset gyro integrals to acc guessing |
286 | // reset gyro integrals to acc guessing |
287 | IntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
287 | IntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
288 | IntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
288 | IntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
289 | //ReadingIntegralGyroNick = IntegralGyroNick; |
289 | //ReadingIntegralGyroNick = IntegralGyroNick; |
290 | //ReadingIntegralGyroRoll = IntegralGyroRoll; |
290 | //ReadingIntegralGyroRoll = IntegralGyroRoll; |
291 | ReadingIntegralGyroNick2 = IntegralGyroNick; |
291 | ReadingIntegralGyroNick2 = IntegralGyroNick; |
292 | ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
292 | ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
293 | ReadingIntegralGyroYaw = 0; |
293 | ReadingIntegralGyroYaw = 0; |
294 | 294 | ||
295 | 295 | ||
296 | StartAirPressure = AirPressure; |
296 | StartAirPressure = AirPressure; |
297 | HeightD = 0; |
297 | HeightD = 0; |
298 | 298 | ||
299 | // update compass course to current heading |
299 | // update compass course to current heading |
300 | CompassCourse = CompassHeading; |
300 | CompassCourse = CompassHeading; |
301 | // Inititialize YawGyroIntegral value with current compass heading |
301 | // Inititialize YawGyroIntegral value with current compass heading |
302 | YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
302 | YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
303 | YawGyroDrift = 0; |
303 | YawGyroDrift = 0; |
304 | 304 | ||
305 | BeepTime = 50; |
305 | BeepTime = 50; |
306 | 306 | ||
307 | TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
307 | TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
308 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
308 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
309 | 309 | ||
310 | ExternHeightValue = 0; |
310 | ExternHeightValue = 0; |
311 | 311 | ||
312 | GPSStickNick = 0; |
312 | GPSStickNick = 0; |
313 | GPSStickRoll = 0; |
313 | GPSStickRoll = 0; |
314 | 314 | ||
315 | MKFlags |= MKFLAG_CALIBRATE; |
315 | MKFlags |= MKFLAG_CALIBRATE; |
316 | 316 | ||
317 | FCParam.KalmanK = -1; |
317 | FCParam.KalmanK = -1; |
318 | FCParam.KalmanMaxDrift = 0; |
318 | FCParam.KalmanMaxDrift = 0; |
319 | FCParam.KalmanMaxFusion = 32; |
319 | FCParam.KalmanMaxFusion = 32; |
320 | 320 | ||
321 | Poti1 = PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110; |
321 | Poti1 = PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110; |
322 | Poti2 = PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110; |
322 | Poti2 = PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110; |
323 | Poti3 = PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110; |
323 | Poti3 = PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110; |
324 | Poti4 = PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110; |
324 | Poti4 = PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110; |
325 | 325 | ||
326 | Servo_On(); //enable servo output |
326 | Servo_On(); //enable servo output |
327 | RC_Quality = 100; |
327 | RC_Quality = 100; |
328 | } |
328 | } |
329 | 329 | ||
330 | /************************************************************************/ |
330 | /************************************************************************/ |
331 | /* Averaging Measurement Readings */ |
331 | /* Averaging Measurement Readings */ |
332 | /************************************************************************/ |
332 | /************************************************************************/ |
333 | void Mean(void) |
333 | void Mean(void) |
334 | { |
334 | { |
335 | int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
335 | int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
336 | int16_t FilterGyroNick, FilterGyroRoll; |
336 | int16_t FilterGyroNick, FilterGyroRoll; |
337 | static int16_t Last_GyroRoll = 0, Last_GyroNick = 0; |
337 | static int16_t Last_GyroRoll = 0, Last_GyroNick = 0; |
338 | int16_t d2Nick, d2Roll; |
338 | int16_t d2Nick, d2Roll; |
339 | int32_t AngleNick, AngleRoll; |
339 | int32_t AngleNick, AngleRoll; |
340 | int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
340 | int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
341 | 341 | ||
342 | // Get bias free gyro readings |
342 | // Get bias free gyro readings |
343 | GyroNick = HiResGyroNick / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
343 | GyroNick = HiResGyroNick / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
344 | FilterGyroNick = FilterHiResGyroNick / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
344 | FilterGyroNick = FilterHiResGyroNick / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
345 | 345 | ||
346 | // handle rotation rates that violate adc ranges |
346 | // handle rotation rates that violate adc ranges |
347 | if(AdValueGyroNick < 15) GyroNick = -1000; |
347 | if(AdValueGyroNick < 15) GyroNick = -1000; |
348 | if(AdValueGyroNick < 7) GyroNick = -2000; |
348 | if(AdValueGyroNick < 7) GyroNick = -2000; |
349 | if(BoardRelease == 10) |
349 | if(BoardRelease == 10) |
350 | { |
350 | { |
351 | if(AdValueGyroNick > 1010) GyroNick = +1000; |
351 | if(AdValueGyroNick > 1010) GyroNick = +1000; |
352 | if(AdValueGyroNick > 1017) GyroNick = +2000; |
352 | if(AdValueGyroNick > 1017) GyroNick = +2000; |
353 | } |
353 | } |
354 | else |
354 | else |
355 | { |
355 | { |
356 | if(AdValueGyroNick > 2000) GyroNick = +1000; |
356 | if(AdValueGyroNick > 2000) GyroNick = +1000; |
357 | if(AdValueGyroNick > 2015) GyroNick = +2000; |
357 | if(AdValueGyroNick > 2015) GyroNick = +2000; |
358 | } |
358 | } |
359 | 359 | ||
360 | GyroRoll = HiResGyroRoll / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
360 | GyroRoll = HiResGyroRoll / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
361 | FilterGyroRoll = FilterHiResGyroRoll / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
361 | FilterGyroRoll = FilterHiResGyroRoll / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
362 | // handle rotation rates that violate adc ranges |
362 | // handle rotation rates that violate adc ranges |
363 | if(AdValueGyroRoll < 15) GyroRoll = -1000; |
363 | if(AdValueGyroRoll < 15) GyroRoll = -1000; |
364 | if(AdValueGyroRoll < 7) GyroRoll = -2000; |
364 | if(AdValueGyroRoll < 7) GyroRoll = -2000; |
365 | if(BoardRelease == 10) |
365 | if(BoardRelease == 10) |
366 | { |
366 | { |
367 | if(AdValueGyroRoll > 1010) GyroRoll = +1000; |
367 | if(AdValueGyroRoll > 1010) GyroRoll = +1000; |
368 | if(AdValueGyroRoll > 1017) GyroRoll = +2000; |
368 | if(AdValueGyroRoll > 1017) GyroRoll = +2000; |
369 | } |
369 | } |
370 | else |
370 | else |
371 | { |
371 | { |
372 | if(AdValueGyroRoll > 2000) GyroRoll = +1000; |
372 | if(AdValueGyroRoll > 2000) GyroRoll = +1000; |
373 | if(AdValueGyroRoll > 2015) GyroRoll = +2000; |
373 | if(AdValueGyroRoll > 2015) GyroRoll = +2000; |
374 | } |
374 | } |
375 | 375 | ||
376 | GyroYaw = AdBiasGyroYaw - AdValueGyroYaw; |
376 | GyroYaw = AdBiasGyroYaw - AdValueGyroYaw; |
377 | 377 | ||
378 | // Acceleration Sensor |
378 | // Acceleration Sensor |
379 | // lowpass acc measurement and scale AccNick/AccRoll by a factor of ACC_AMPLIFY to have a better resolution |
379 | // lowpass acc measurement and scale AccNick/AccRoll by a factor of ACC_AMPLIFY to have a better resolution |
380 | AccNick = ((int32_t)AccNick * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 4L; |
380 | AccNick = ((int32_t)AccNick * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 4L; |
381 | AccRoll = ((int32_t)AccRoll * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 4L; |
381 | AccRoll = ((int32_t)AccRoll * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 4L; |
382 | AccTop = ((int32_t)AccTop * 3 + ((int32_t)AdValueAccTop)) / 4L; |
382 | AccTop = ((int32_t)AccTop * 3 + ((int32_t)AdValueAccTop)) / 4L; |
383 | 383 | ||
384 | // sum acc sensor readings for later averaging |
384 | // sum acc sensor readings for later averaging |
385 | MeanAccNick += ACC_AMPLIFY * AdValueAccNick; |
385 | MeanAccNick += ACC_AMPLIFY * AdValueAccNick; |
386 | MeanAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
386 | MeanAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
387 | 387 | ||
388 | NaviAccNick += AdValueAccNick; |
388 | NaviAccNick += AdValueAccNick; |
389 | NaviAccRoll += AdValueAccRoll; |
389 | NaviAccRoll += AdValueAccRoll; |
390 | NaviCntAcc++; |
390 | NaviCntAcc++; |
391 | 391 | ||
392 | 392 | ||
393 | // enable ADC to meassure next readings, before that point all variables should be read that are written by the ADC ISR |
393 | // enable ADC to meassure next readings, before that point all variables should be read that are written by the ADC ISR |
394 | ADC_Enable(); |
394 | ADC_Enable(); |
395 | ADReady = 0; |
395 | ADReady = 0; |
396 | 396 | ||
397 | // limit angle readings for axis coupling calculations |
397 | // limit angle readings for axis coupling calculations |
398 | #define ANGLE_LIMIT 93000L // aprox. 93000/GYRO_DEG_FACTOR = 82 deg |
398 | #define ANGLE_LIMIT 93000L // aprox. 93000/GYRO_DEG_FACTOR = 82 deg |
399 | 399 | ||
400 | AngleNick = ReadingIntegralGyroNick; |
400 | AngleNick = ReadingIntegralGyroNick; |
401 | CHECK_MIN_MAX(AngleNick, -ANGLE_LIMIT, ANGLE_LIMIT); |
401 | CHECK_MIN_MAX(AngleNick, -ANGLE_LIMIT, ANGLE_LIMIT); |
402 | 402 | ||
403 | AngleRoll = ReadingIntegralGyroRoll; |
403 | AngleRoll = ReadingIntegralGyroRoll; |
404 | CHECK_MIN_MAX(AngleRoll, -ANGLE_LIMIT, ANGLE_LIMIT); |
404 | CHECK_MIN_MAX(AngleRoll, -ANGLE_LIMIT, ANGLE_LIMIT); |
405 | 405 | ||
406 | 406 | ||
407 | // Yaw |
407 | // Yaw |
408 | // calculate yaw gyro integral (~ to rotation angle) |
408 | // calculate yaw gyro integral (~ to rotation angle) |
409 | YawGyroHeading += GyroYaw; |
409 | YawGyroHeading += GyroYaw; |
410 | ReadingIntegralGyroYaw += GyroYaw; |
410 | ReadingIntegralGyroYaw += GyroYaw; |
411 | 411 | ||
412 | 412 | ||
413 | // Coupling fraction |
413 | // Coupling fraction |
414 | if(! LoopingNick && !LoopingRoll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
414 | if(! LoopingNick && !LoopingRoll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
415 | { |
415 | { |
416 | tmp13 = (FilterGyroRoll * AngleNick) / 2048L; |
416 | tmp13 = (FilterGyroRoll * AngleNick) / 2048L; |
417 | tmp13 *= FCParam.AxisCoupling2; // 65 |
417 | tmp13 *= FCParam.AxisCoupling2; // 65 |
418 | tmp13 /= 4096L; |
418 | tmp13 /= 4096L; |
419 | CouplingNickRoll = tmp13; |
419 | CouplingNickRoll = tmp13; |
420 | 420 | ||
421 | tmp14 = (FilterGyroNick * AngleRoll) / 2048L; |
421 | tmp14 = (FilterGyroNick * AngleRoll) / 2048L; |
422 | tmp14 *= FCParam.AxisCoupling2; // 65 |
422 | tmp14 *= FCParam.AxisCoupling2; // 65 |
423 | tmp14 /= 4096L; |
423 | tmp14 /= 4096L; |
424 | CouplingRollNick = tmp14; |
424 | CouplingRollNick = tmp14; |
425 | 425 | ||
426 | tmp14 -= tmp13; |
426 | tmp14 -= tmp13; |
427 | YawGyroHeading += tmp14; |
427 | YawGyroHeading += tmp14; |
428 | if(!FCParam.AxisCouplingYawCorrection) ReadingIntegralGyroYaw -= tmp14 / 2; // force yaw |
428 | if(!FCParam.AxisCouplingYawCorrection) ReadingIntegralGyroYaw -= tmp14 / 2; // force yaw |
429 | 429 | ||
430 | tmpl = ((GyroYaw + tmp14) * AngleNick) / 2048L; |
430 | tmpl = ((GyroYaw + tmp14) * AngleNick) / 2048L; |
431 | tmpl *= FCParam.AxisCoupling1; |
431 | tmpl *= FCParam.AxisCoupling1; |
432 | tmpl /= 4096L; |
432 | tmpl /= 4096L; |
433 | 433 | ||
434 | tmpl2 = ((GyroYaw + tmp14) * AngleRoll) / 2048L; |
434 | tmpl2 = ((GyroYaw + tmp14) * AngleRoll) / 2048L; |
435 | tmpl2 *= FCParam.AxisCoupling1; |
435 | tmpl2 *= FCParam.AxisCoupling1; |
436 | tmpl2 /= 4096L; |
436 | tmpl2 /= 4096L; |
437 | if(abs(GyroYaw > 64)) |
437 | if(abs(GyroYaw > 64)) |
438 | { |
438 | { |
439 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
439 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
440 | } |
440 | } |
441 | 441 | ||
442 | TrimNick = -tmpl2 + tmpl / 100L; |
442 | TrimNick = -tmpl2 + tmpl / 100L; |
443 | TrimRoll = tmpl - tmpl2 / 100L; |
443 | TrimRoll = tmpl - tmpl2 / 100L; |
444 | } |
444 | } |
445 | else |
445 | else |
446 | { |
446 | { |
447 | CouplingNickRoll = 0; |
447 | CouplingNickRoll = 0; |
448 | CouplingRollNick = 0; |
448 | CouplingRollNick = 0; |
449 | TrimNick = 0; |
449 | TrimNick = 0; |
450 | TrimRoll = 0; |
450 | TrimRoll = 0; |
451 | } |
451 | } |
452 | 452 | ||
453 | 453 | ||
454 | // Yaw |
454 | // Yaw |
455 | 455 | ||
456 | // limit YawGyroHeading proportional to 0° to 360° |
456 | // limit YawGyroHeading proportional to 0° to 360° |
457 | if(YawGyroHeading >= (360L * GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * GYRO_DEG_FACTOR; // 360° Wrap |
457 | if(YawGyroHeading >= (360L * GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * GYRO_DEG_FACTOR; // 360° Wrap |
458 | if(YawGyroHeading < 0) YawGyroHeading += 360L * GYRO_DEG_FACTOR; |
458 | if(YawGyroHeading < 0) YawGyroHeading += 360L * GYRO_DEG_FACTOR; |
459 | 459 | ||
460 | // Roll |
460 | // Roll |
461 | ReadingIntegralGyroRoll2 += FilterGyroRoll + TrimRoll; |
461 | ReadingIntegralGyroRoll2 += FilterGyroRoll + TrimRoll; |
462 | ReadingIntegralGyroRoll += FilterGyroRoll + TrimRoll- AttitudeCorrectionRoll; |
462 | ReadingIntegralGyroRoll += FilterGyroRoll + TrimRoll- AttitudeCorrectionRoll; |
463 | if(ReadingIntegralGyroRoll > TurnOver180Roll) |
463 | if(ReadingIntegralGyroRoll > TurnOver180Roll) |
464 | { |
464 | { |
465 | ReadingIntegralGyroRoll = -(TurnOver180Roll - 10000L); |
465 | ReadingIntegralGyroRoll = -(TurnOver180Roll - 10000L); |
466 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
466 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
467 | } |
467 | } |
468 | if(ReadingIntegralGyroRoll < -TurnOver180Roll) |
468 | if(ReadingIntegralGyroRoll < -TurnOver180Roll) |
469 | { |
469 | { |
470 | ReadingIntegralGyroRoll = (TurnOver180Roll - 10000L); |
470 | ReadingIntegralGyroRoll = (TurnOver180Roll - 10000L); |
471 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
471 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
472 | } |
472 | } |
473 | 473 | ||
474 | // Nick |
474 | // Nick |
475 | ReadingIntegralGyroNick2 += FilterGyroNick + TrimNick; |
475 | ReadingIntegralGyroNick2 += FilterGyroNick + TrimNick; |
476 | ReadingIntegralGyroNick += FilterGyroNick + TrimNick - AttitudeCorrectionNick; |
476 | ReadingIntegralGyroNick += FilterGyroNick + TrimNick - AttitudeCorrectionNick; |
477 | if(ReadingIntegralGyroNick > TurnOver180Nick) |
477 | if(ReadingIntegralGyroNick > TurnOver180Nick) |
478 | { |
478 | { |
479 | ReadingIntegralGyroNick = -(TurnOver180Nick - 25000L); |
479 | ReadingIntegralGyroNick = -(TurnOver180Nick - 25000L); |
480 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
480 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
481 | } |
481 | } |
482 | if(ReadingIntegralGyroNick < -TurnOver180Nick) |
482 | if(ReadingIntegralGyroNick < -TurnOver180Nick) |
483 | { |
483 | { |
484 | ReadingIntegralGyroNick = (TurnOver180Nick - 25000L); |
484 | ReadingIntegralGyroNick = (TurnOver180Nick - 25000L); |
485 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
485 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
486 | } |
486 | } |
487 | 487 | ||
488 | IntegralGyroYaw = ReadingIntegralGyroYaw; |
488 | IntegralGyroYaw = ReadingIntegralGyroYaw; |
489 | IntegralGyroNick = ReadingIntegralGyroNick; |
489 | IntegralGyroNick = ReadingIntegralGyroNick; |
490 | IntegralGyroRoll = ReadingIntegralGyroRoll; |
490 | IntegralGyroRoll = ReadingIntegralGyroRoll; |
491 | IntegralGyroNick2 = ReadingIntegralGyroNick2; |
491 | IntegralGyroNick2 = ReadingIntegralGyroNick2; |
492 | IntegralGyroRoll2 = ReadingIntegralGyroRoll2; |
492 | IntegralGyroRoll2 = ReadingIntegralGyroRoll2; |
493 | 493 | ||
494 | 494 | ||
495 | #define D_LIMIT 128 |
495 | #define D_LIMIT 128 |
496 | 496 | ||
497 | if(FCParam.GyroD) |
497 | if(FCParam.GyroD) |
498 | { |
498 | { |
499 | d2Nick = (HiResGyroNick - Last_GyroNick); // change of gyro rate |
499 | d2Nick = (HiResGyroNick - Last_GyroNick); // change of gyro rate |
500 | Last_GyroNick = (Last_GyroNick + HiResGyroNick) / 2; |
500 | Last_GyroNick = (Last_GyroNick + HiResGyroNick) / 2; |
501 | CHECK_MIN_MAX(d2Nick, -D_LIMIT, D_LIMIT); |
501 | CHECK_MIN_MAX(d2Nick, -D_LIMIT, D_LIMIT); |
502 | GyroNick += (d2Nick * (int16_t)FCParam.GyroD) / 16; |
502 | GyroNick += (d2Nick * (int16_t)FCParam.GyroD) / 16; |
503 | 503 | ||
504 | d2Roll = (HiResGyroRoll - Last_GyroRoll); // change of gyro rate |
504 | d2Roll = (HiResGyroRoll - Last_GyroRoll); // change of gyro rate |
505 | Last_GyroRoll = (Last_GyroRoll + HiResGyroRoll) / 2; |
505 | Last_GyroRoll = (Last_GyroRoll + HiResGyroRoll) / 2; |
506 | CHECK_MIN_MAX(d2Roll, -D_LIMIT, D_LIMIT); |
506 | CHECK_MIN_MAX(d2Roll, -D_LIMIT, D_LIMIT); |
507 | GyroRoll += (d2Roll * (int16_t)FCParam.GyroD) / 16; |
507 | GyroRoll += (d2Roll * (int16_t)FCParam.GyroD) / 16; |
508 | 508 | ||
509 | HiResGyroNick += (d2Nick * (int16_t)FCParam.GyroD); |
509 | HiResGyroNick += (d2Nick * (int16_t)FCParam.GyroD); |
510 | HiResGyroRoll += (d2Roll * (int16_t)FCParam.GyroD); |
510 | HiResGyroRoll += (d2Roll * (int16_t)FCParam.GyroD); |
511 | } |
511 | } |
512 | 512 | ||
513 | // Increase the roll/nick rate virtually proportional to the coupling to suppress a faster rotation |
513 | // Increase the roll/nick rate virtually proportional to the coupling to suppress a faster rotation |
514 | if(FilterGyroNick > 0) TrimNick += ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
514 | if(FilterGyroNick > 0) TrimNick += ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
515 | else TrimNick -= ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
515 | else TrimNick -= ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
516 | if(FilterGyroRoll > 0) TrimRoll += ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
516 | if(FilterGyroRoll > 0) TrimRoll += ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
517 | else TrimRoll -= ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
517 | else TrimRoll -= ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
518 | 518 | ||
519 | // increase the nick/roll rates virtually from the threshold of 245 to slow down higher rotation rates |
519 | // increase the nick/roll rates virtually from the threshold of 245 to slow down higher rotation rates |
520 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && ! LoopingNick && !LoopingRoll) |
520 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && ! LoopingNick && !LoopingRoll) |
521 | { |
521 | { |
522 | if(FilterGyroNick > 256) GyroNick += 1 * (FilterGyroNick - 256); |
522 | if(FilterGyroNick > 256) GyroNick += 1 * (FilterGyroNick - 256); |
523 | else if(FilterGyroNick < -256) GyroNick += 1 * (FilterGyroNick + 256); |
523 | else if(FilterGyroNick < -256) GyroNick += 1 * (FilterGyroNick + 256); |
524 | if(FilterGyroRoll > 256) GyroRoll += 1 * (FilterGyroRoll - 256); |
524 | if(FilterGyroRoll > 256) GyroRoll += 1 * (FilterGyroRoll - 256); |
525 | else if(FilterGyroRoll < -256) GyroRoll += 1 * (FilterGyroRoll + 256); |
525 | else if(FilterGyroRoll < -256) GyroRoll += 1 * (FilterGyroRoll + 256); |
526 | } |
526 | } |
527 | 527 | ||
528 | } |
528 | } |
529 | 529 | ||
530 | 530 | ||
531 | /************************************************************************/ |
531 | /************************************************************************/ |
532 | /* Transmit Motor Data via I2C */ |
532 | /* Transmit Motor Data via I2C */ |
533 | /************************************************************************/ |
533 | /************************************************************************/ |
534 | void SendMotorData(void) |
534 | void SendMotorData(void) |
535 | { |
535 | { |
536 | uint8_t i; |
536 | uint8_t i; |
537 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
537 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
538 | { |
538 | { |
539 | MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
539 | MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
540 | for(i = 0; i < MAX_MOTORS; i++) |
540 | for(i = 0; i < MAX_MOTORS; i++) |
541 | { |
541 | { |
542 | if(!MotorTest_Active) Motor[i].SetPoint = 0; |
542 | if(!MotorTest_Active) Motor[i].SetPoint = 0; |
543 | else Motor[i].SetPoint = MotorTest[i]; |
543 | else Motor[i].SetPoint = MotorTest[i]; |
544 | } |
544 | } |
545 | if(MotorTest_Active) MotorTest_Active--; |
545 | if(MotorTest_Active) MotorTest_Active--; |
546 | } |
546 | } |
547 | 547 | ||
548 | DebugOut.Analog[12] = Motor[0].SetPoint; // Front |
548 | DebugOut.Analog[12] = Motor[0].SetPoint; // Front |
549 | DebugOut.Analog[13] = Motor[1].SetPoint; // Rear |
549 | DebugOut.Analog[13] = Motor[1].SetPoint; // Rear |
550 | DebugOut.Analog[14] = Motor[3].SetPoint; // Left |
550 | DebugOut.Analog[14] = Motor[3].SetPoint; // Left |
551 | DebugOut.Analog[15] = Motor[2].SetPoint; // Right |
551 | DebugOut.Analog[15] = Motor[2].SetPoint; // Right |
552 | //Start I2C Interrupt Mode |
552 | //Start I2C Interrupt Mode |
553 | I2C_Start(TWI_STATE_MOTOR_TX); |
553 | I2C_Start(TWI_STATE_MOTOR_TX); |
554 | } |
554 | } |
555 | 555 | ||
556 | 556 | ||
557 | /************************************************************************/ |
557 | /************************************************************************/ |
558 | /* Map the parameter to poti values */ |
558 | /* Map the parameter to poti values */ |
559 | /************************************************************************/ |
559 | /************************************************************************/ |
560 | void ParameterMapping(void) |
560 | void ParameterMapping(void) |
561 | { |
561 | { |
562 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
562 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
563 | // else the last updated values are used |
563 | // else the last updated values are used |
564 | { |
564 | { |
565 | //update poti values by rc-signals |
565 | //update poti values by rc-signals |
566 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
566 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
567 | #define CHK_POTI(b,a) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a;} |
567 | #define CHK_POTI(b,a) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a;} |
568 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
568 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
569 | CHK_POTI_MM(FCParam.HeightD,ParamSet.HeightD,0,100); |
569 | CHK_POTI_MM(FCParam.HeightD,ParamSet.HeightD,0,100); |
570 | CHK_POTI_MM(FCParam.HeightP,ParamSet.HeightP,0,100); |
570 | CHK_POTI_MM(FCParam.HeightP,ParamSet.HeightP,0,100); |
571 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
571 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
572 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
572 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
573 | CHK_POTI_MM(FCParam.GyroP,ParamSet.GyroP,10,255); |
573 | CHK_POTI_MM(FCParam.GyroP,ParamSet.GyroP,10,255); |
574 | CHK_POTI(FCParam.GyroI,ParamSet.GyroI); |
574 | CHK_POTI(FCParam.GyroI,ParamSet.GyroI); |
575 | CHK_POTI(FCParam.GyroD,ParamSet.GyroD); |
575 | CHK_POTI(FCParam.GyroD,ParamSet.GyroD); |
576 | CHK_POTI(FCParam.IFactor,ParamSet.IFactor); |
576 | CHK_POTI(FCParam.IFactor,ParamSet.IFactor); |
577 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
577 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
578 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
578 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
579 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
579 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
580 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
580 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
581 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
581 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
582 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
582 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
583 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
583 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
584 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
584 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
585 | CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
585 | CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
586 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
586 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
587 | CHK_POTI(FCParam.AxisCoupling1,ParamSet.AxisCoupling1); |
587 | CHK_POTI(FCParam.AxisCoupling1,ParamSet.AxisCoupling1); |
588 | CHK_POTI(FCParam.AxisCoupling2,ParamSet.AxisCoupling2); |
588 | CHK_POTI(FCParam.AxisCoupling2,ParamSet.AxisCoupling2); |
589 | CHK_POTI(FCParam.AxisCouplingYawCorrection,ParamSet.AxisCouplingYawCorrection); |
589 | CHK_POTI(FCParam.AxisCouplingYawCorrection,ParamSet.AxisCouplingYawCorrection); |
590 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
590 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
591 | CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
591 | CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
592 | CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
592 | CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
593 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
593 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
594 | CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
594 | CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
595 | CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
595 | CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
596 | CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
596 | CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
597 | CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
597 | CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
598 | CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
598 | CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
599 | CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
599 | CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
600 | CHK_POTI_MM(FCParam.NaviOperatingRadius,ParamSet.NaviOperatingRadius,10, 255); |
600 | CHK_POTI_MM(FCParam.NaviOperatingRadius,ParamSet.NaviOperatingRadius,10, 255); |
601 | CHK_POTI(FCParam.NaviWindCorrection,ParamSet.NaviWindCorrection); |
601 | CHK_POTI(FCParam.NaviWindCorrection,ParamSet.NaviWindCorrection); |
602 | CHK_POTI(FCParam.NaviSpeedCompensation,ParamSet.NaviSpeedCompensation); |
602 | CHK_POTI(FCParam.NaviSpeedCompensation,ParamSet.NaviSpeedCompensation); |
603 | #endif |
603 | #endif |
604 | CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
604 | CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
605 | Ki = 10300 / ( FCParam.IFactor + 1 ); |
605 | Ki = 10300 / ( FCParam.IFactor + 1 ); |
606 | } |
606 | } |
607 | } |
607 | } |
608 | 608 | ||
609 | 609 | ||
610 | void SetCompassCalState(void) |
610 | void SetCompassCalState(void) |
611 | { |
611 | { |
612 | static uint8_t stick = 1; |
612 | static uint8_t stick = 1; |
613 | 613 | ||
614 | // if nick is centered or top set stick to zero |
614 | // if nick is centered or top set stick to zero |
615 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
615 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
616 | // if nick is down trigger to next cal state |
616 | // if nick is down trigger to next cal state |
617 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
617 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
618 | { |
618 | { |
619 | stick = 1; |
619 | stick = 1; |
620 | CompassCalState++; |
620 | CompassCalState++; |
621 | if(CompassCalState < 5) Beep(CompassCalState); |
621 | if(CompassCalState < 5) Beep(CompassCalState); |
622 | else BeepTime = 1000; |
622 | else BeepTime = 1000; |
623 | } |
623 | } |
624 | } |
624 | } |
625 | 625 | ||
626 | 626 | ||
627 | 627 | ||
628 | /************************************************************************/ |
628 | /************************************************************************/ |
629 | /* MotorControl */ |
629 | /* MotorControl */ |
630 | /************************************************************************/ |
630 | /************************************************************************/ |
631 | void MotorControl(void) |
631 | void MotorControl(void) |
632 | { |
632 | { |
633 | int16_t h, tmp_int; |
633 | int16_t h, tmp_int; |
634 | 634 | ||
635 | // Mixer Fractions that are combined for Motor Control |
635 | // Mixer Fractions that are combined for Motor Control |
636 | int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction; |
636 | int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction; |
637 | 637 | ||
638 | // PID controller variables |
638 | // PID controller variables |
639 | int16_t DiffNick, DiffRoll; |
639 | int16_t DiffNick, DiffRoll; |
640 | int16_t PDPartNick, PDPartRoll, PDPartYaw, PPartNick, PPartRoll; |
640 | int16_t PDPartNick, PDPartRoll, PDPartYaw, PPartNick, PPartRoll; |
641 | static int32_t IPartNick = 0, IPartRoll = 0; |
641 | static int32_t IPartNick = 0, IPartRoll = 0; |
642 | 642 | ||
643 | static int32_t SetPointYaw = 0; |
643 | static int32_t SetPointYaw = 0; |
644 | static int32_t IntegralGyroNickError = 0, IntegralGyroRollError = 0; |
644 | static int32_t IntegralGyroNickError = 0, IntegralGyroRollError = 0; |
645 | static int32_t CorrectionNick, CorrectionRoll; |
645 | static int32_t CorrectionNick, CorrectionRoll; |
646 | static uint16_t RcLostTimer; |
646 | static uint16_t RcLostTimer; |
647 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
647 | static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
648 | static uint8_t HeightControlActive = 0; |
648 | static uint8_t HeightControlActive = 0; |
649 | static int16_t HeightControlGas = 0; |
649 | static int16_t HeightControlGas = 0; |
650 | static int8_t TimerDebugOut = 0; |
650 | static int8_t TimerDebugOut = 0; |
651 | static uint16_t UpdateCompassCourse = 0; |
651 | static uint16_t UpdateCompassCourse = 0; |
652 | // high resolution motor values for smoothing of PID motor outputs |
652 | // high resolution motor values for smoothing of PID motor outputs |
653 | static int16_t MotorValue[MAX_MOTORS]; |
653 | static int16_t MotorValue[MAX_MOTORS]; |
654 | uint8_t i; |
654 | uint8_t i; |
655 | 655 | ||
656 | Mean(); |
656 | Mean(); |
657 | GRN_ON; |
657 | GRN_ON; |
658 | 658 | ||
659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
660 | // determine gas value |
660 | // determine gas value |
661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
662 | GasMixFraction = StickGas; |
662 | GasMixFraction = StickGas; |
663 | if(GasMixFraction < ParamSet.GasMin + 10) GasMixFraction = ParamSet.GasMin + 10; |
663 | if(GasMixFraction < ParamSet.GasMin + 10) GasMixFraction = ParamSet.GasMin + 10; |
664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | // RC-signal is bad |
665 | // RC-signal is bad |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
667 | if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
668 | { |
668 | { |
669 | if(!PcAccess) // if also no PC-Access via UART |
669 | if(!PcAccess) // if also no PC-Access via UART |
670 | { |
670 | { |
671 | if(BeepModulation == 0xFFFF) |
671 | if(BeepModulation == 0xFFFF) |
672 | { |
672 | { |
673 | BeepTime = 15000; // 1.5 seconds |
673 | BeepTime = 15000; // 1.5 seconds |
674 | BeepModulation = 0x0C00; |
674 | BeepModulation = 0x0C00; |
675 | } |
675 | } |
676 | } |
676 | } |
677 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
677 | if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
678 | else // rc lost countdown finished |
678 | else // rc lost countdown finished |
679 | { |
679 | { |
680 | MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
680 | MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
681 | } |
681 | } |
682 | RED_ON; // set red led |
682 | RED_ON; // set red led |
683 | if(ModelIsFlying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
683 | if(ModelIsFlying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
684 | { |
684 | { |
685 | GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
685 | GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
686 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
686 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
687 | // set neutral rc inputs |
687 | // set neutral rc inputs |
688 | PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
688 | PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
689 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
689 | PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
690 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
690 | PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
691 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
691 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
692 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
692 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
693 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
693 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
694 | } |
694 | } |
695 | else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
695 | else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
696 | } // eof RC_Quality < 120 |
696 | } // eof RC_Quality < 120 |
697 | else |
697 | else |
698 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
698 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
699 | // RC-signal is good |
699 | // RC-signal is good |
700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | if(RC_Quality > 140) |
701 | if(RC_Quality > 140) |
702 | { |
702 | { |
703 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
703 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
704 | // reset emergency timer |
704 | // reset emergency timer |
705 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
705 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
706 | if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
706 | if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
707 | { |
707 | { |
708 | if(ModelIsFlying < 0xFFFF) ModelIsFlying++; |
708 | if(ModelIsFlying < 0xFFFF) ModelIsFlying++; |
709 | } |
709 | } |
710 | if(ModelIsFlying < 256) |
710 | if(ModelIsFlying < 256) |
711 | { |
711 | { |
712 | IPartNick = 0; |
712 | IPartNick = 0; |
713 | IPartRoll = 0; |
713 | IPartRoll = 0; |
714 | StickYaw = 0; |
714 | StickYaw = 0; |
715 | if(ModelIsFlying == 250) |
715 | if(ModelIsFlying == 250) |
716 | { |
716 | { |
717 | UpdateCompassCourse = 1; |
717 | UpdateCompassCourse = 1; |
718 | ReadingIntegralGyroYaw = 0; |
718 | ReadingIntegralGyroYaw = 0; |
719 | SetPointYaw = 0; |
719 | SetPointYaw = 0; |
720 | } |
720 | } |
721 | } |
721 | } |
722 | else MKFlags |= (MKFLAG_FLY); // set fly flag |
722 | else MKFlags |= (MKFLAG_FLY); // set fly flag |
723 | 723 | ||
724 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
724 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
725 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
725 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
726 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
726 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
727 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
727 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
728 | //PPM24-Extension |
728 | //PPM24-Extension |
729 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
729 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
730 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
730 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
731 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
731 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
732 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
732 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
733 | //limit poti values |
733 | //limit poti values |
734 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
734 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
735 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
735 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
736 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
736 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
737 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
737 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
738 | //PPM24-Extension |
738 | //PPM24-Extension |
739 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
739 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
740 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
740 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
741 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
741 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
742 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
742 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
743 | 743 | ||
744 | // if motors are off and the gas stick is in the upper position |
744 | // if motors are off and the gas stick is in the upper position |
745 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
745 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
746 | { |
746 | { |
747 | // and if the yaw stick is in the leftmost position |
747 | // and if the yaw stick is in the leftmost position |
748 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
748 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | // calibrate the neutral readings of all attitude sensors |
750 | // calibrate the neutral readings of all attitude sensors |
751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
752 | { |
752 | { |
753 | // gas/yaw joystick is top left |
753 | // gas/yaw joystick is top left |
754 | // _________ |
754 | // _________ |
755 | // |x | |
755 | // |x | |
756 | // | | |
756 | // | | |
757 | // | | |
757 | // | | |
758 | // | | |
758 | // | | |
759 | // | | |
759 | // | | |
760 | // ¯¯¯¯¯¯¯¯¯ |
760 | // ¯¯¯¯¯¯¯¯¯ |
761 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
761 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
762 | { |
762 | { |
763 | delay_neutral = 0; |
763 | delay_neutral = 0; |
764 | GRN_OFF; |
764 | GRN_OFF; |
765 | ModelIsFlying = 0; |
765 | ModelIsFlying = 0; |
766 | // check roll/nick stick position |
766 | // check roll/nick stick position |
767 | // if nick stick is top or roll stick is left or right --> change parameter setting |
767 | // if nick stick is top or roll stick is left or right --> change parameter setting |
768 | // according to roll/nick stick position |
768 | // according to roll/nick stick position |
769 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
769 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
770 | { |
770 | { |
771 | uint8_t setting = 1; // default |
771 | uint8_t setting = 1; // default |
772 | // nick/roll joystick |
772 | // nick/roll joystick |
773 | // _________ |
773 | // _________ |
774 | // |2 3 4| |
774 | // |2 3 4| |
775 | // | | |
775 | // | | |
776 | // |1 5| |
776 | // |1 5| |
777 | // | | |
777 | // | | |
778 | // | | |
778 | // | | |
779 | // ¯¯¯¯¯¯¯¯¯ |
779 | // ¯¯¯¯¯¯¯¯¯ |
780 | // roll stick leftmost and nick stick centered --> setting 1 |
780 | // roll stick leftmost and nick stick centered --> setting 1 |
781 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
781 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
782 | // roll stick leftmost and nick stick topmost --> setting 2 |
782 | // roll stick leftmost and nick stick topmost --> setting 2 |
783 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
783 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
784 | // roll stick centered an nick stick topmost --> setting 3 |
784 | // roll stick centered an nick stick topmost --> setting 3 |
785 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
785 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
786 | // roll stick rightmost and nick stick topmost --> setting 4 |
786 | // roll stick rightmost and nick stick topmost --> setting 4 |
787 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
787 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
788 | // roll stick rightmost and nick stick centered --> setting 5 |
788 | // roll stick rightmost and nick stick centered --> setting 5 |
789 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
789 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
790 | // update active parameter set in eeprom |
790 | // update active parameter set in eeprom |
791 | SetActiveParamSet(setting); |
791 | SetActiveParamSet(setting); |
792 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
792 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
793 | SetNeutral(NO_ACC_CALIB); |
793 | SetNeutral(NO_ACC_CALIB); |
794 | Beep(GetActiveParamSet()); |
794 | Beep(GetActiveParamSet()); |
795 | } |
795 | } |
796 | else |
796 | else |
797 | { |
797 | { |
798 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
798 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
799 | { |
799 | { |
800 | // if roll stick is centered and nick stick is down |
800 | // if roll stick is centered and nick stick is down |
801 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 30 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
801 | if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 30 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
802 | { |
802 | { |
803 | // nick/roll joystick |
803 | // nick/roll joystick |
804 | // _________ |
804 | // _________ |
805 | // | | |
805 | // | | |
806 | // | | |
806 | // | | |
807 | // | | |
807 | // | | |
808 | // | | |
808 | // | | |
809 | // | x | |
809 | // | x | |
810 | // ¯¯¯¯¯¯¯¯¯ |
810 | // ¯¯¯¯¯¯¯¯¯ |
811 | // enable calibration state of compass |
811 | // enable calibration state of compass |
812 | CompassCalState = 1; |
812 | CompassCalState = 1; |
813 | BeepTime = 1000; |
813 | BeepTime = 1000; |
814 | } |
814 | } |
815 | else // nick and roll are centered |
815 | else // nick and roll are centered |
816 | { |
816 | { |
817 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
817 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
818 | SetNeutral(NO_ACC_CALIB); |
818 | SetNeutral(NO_ACC_CALIB); |
819 | Beep(GetActiveParamSet()); |
819 | Beep(GetActiveParamSet()); |
820 | } |
820 | } |
821 | } |
821 | } |
822 | else // nick and roll are centered |
822 | else // nick and roll are centered |
823 | { |
823 | { |
824 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
824 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
825 | SetNeutral(NO_ACC_CALIB); |
825 | SetNeutral(NO_ACC_CALIB); |
826 | Beep(GetActiveParamSet()); |
826 | Beep(GetActiveParamSet()); |
827 | } |
827 | } |
828 | } |
828 | } |
829 | } |
829 | } |
830 | } |
830 | } |
831 | // and if the yaw stick is in the rightmost position |
831 | // and if the yaw stick is in the rightmost position |
832 | // save the ACC neutral setting to eeprom |
832 | // save the ACC neutral setting to eeprom |
833 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
833 | else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
834 | { |
834 | { |
835 | // gas/yaw joystick is top right |
835 | // gas/yaw joystick is top right |
836 | // _________ |
836 | // _________ |
837 | // | x| |
837 | // | x| |
838 | // | | |
838 | // | | |
839 | // | | |
839 | // | | |
840 | // | | |
840 | // | | |
841 | // | | |
841 | // | | |
842 | // ¯¯¯¯¯¯¯¯¯ |
842 | // ¯¯¯¯¯¯¯¯¯ |
843 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
843 | if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
844 | { |
844 | { |
845 | delay_neutral = 0; |
845 | delay_neutral = 0; |
846 | GRN_OFF; |
846 | GRN_OFF; |
847 | ModelIsFlying = 0; |
847 | ModelIsFlying = 0; |
848 | SetNeutral(ACC_CALIB); |
848 | SetNeutral(ACC_CALIB); |
849 | Beep(GetActiveParamSet()); |
849 | Beep(GetActiveParamSet()); |
850 | } |
850 | } |
851 | } |
851 | } |
852 | else delay_neutral = 0; |
852 | else delay_neutral = 0; |
853 | } |
853 | } |
854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | // gas stick is down |
855 | // gas stick is down |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
857 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
858 | { |
858 | { |
859 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
859 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
860 | { |
860 | { |
861 | // gas/yaw joystick is bottom right |
861 | // gas/yaw joystick is bottom right |
862 | // _________ |
862 | // _________ |
863 | // | | |
863 | // | | |
864 | // | | |
864 | // | | |
865 | // | | |
865 | // | | |
866 | // | | |
866 | // | | |
867 | // | x| |
867 | // | x| |
868 | // ¯¯¯¯¯¯¯¯¯ |
868 | // ¯¯¯¯¯¯¯¯¯ |
869 | // Start Motors |
869 | // Start Motors |
870 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
870 | if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
871 | { |
871 | { |
872 | delay_startmotors = 200; // do not repeat if once executed |
872 | delay_startmotors = 200; // do not repeat if once executed |
873 | ModelIsFlying = 1; |
873 | ModelIsFlying = 1; |
874 | MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
874 | MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
875 | SetPointYaw = 0; |
875 | SetPointYaw = 0; |
876 | ReadingIntegralGyroYaw = 0; |
876 | ReadingIntegralGyroYaw = 0; |
877 | ReadingIntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
877 | ReadingIntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
878 | ReadingIntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
878 | ReadingIntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
879 | ReadingIntegralGyroNick2 = IntegralGyroNick; |
879 | ReadingIntegralGyroNick2 = IntegralGyroNick; |
880 | ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
880 | ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
881 | IPartNick = 0; |
881 | IPartNick = 0; |
882 | IPartRoll = 0; |
882 | IPartRoll = 0; |
883 | } |
883 | } |
884 | } |
884 | } |
885 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
885 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
886 | 886 | ||
887 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
887 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
888 | { |
888 | { |
889 | // gas/yaw joystick is bottom left |
889 | // gas/yaw joystick is bottom left |
890 | // _________ |
890 | // _________ |
891 | // | | |
891 | // | | |
892 | // | | |
892 | // | | |
893 | // | | |
893 | // | | |
894 | // | | |
894 | // | | |
895 | // |x | |
895 | // |x | |
896 | // ¯¯¯¯¯¯¯¯¯ |
896 | // ¯¯¯¯¯¯¯¯¯ |
897 | // Stop Motors |
897 | // Stop Motors |
898 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
898 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
899 | { |
899 | { |
900 | delay_stopmotors = 200; // do not repeat if once executed |
900 | delay_stopmotors = 200; // do not repeat if once executed |
901 | ModelIsFlying = 0; |
901 | ModelIsFlying = 0; |
902 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
902 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
903 | } |
903 | } |
904 | } |
904 | } |
905 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
905 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
906 | } |
906 | } |
907 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
907 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
908 | } // eof RC_Quality > 150 |
908 | } // eof RC_Quality > 150 |
909 | 909 | ||
910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | // new values from RC |
911 | // new values from RC |
912 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
912 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
913 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
913 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
914 | { |
914 | { |
- | 915 | static int16_t stick_nick = 0, stick_roll = 0; |
|
- | 916 | ||
915 | ParameterMapping(); // remapping params (online poti replacement) |
917 | ParameterMapping(); // remapping params (online poti replacement) |
- | 918 | ||
916 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
919 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
917 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
920 | stick_nick = (stick_nick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
918 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
921 | stick_nick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
919 | StickNick -= (GPSStickNick); |
922 | StickNick = stick_nick - GPSStickNick; |
920 | 923 | ||
921 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
924 | stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
922 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
925 | stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
923 | StickRoll -= (GPSStickRoll); |
926 | StickRoll = stick_roll - GPSStickRoll; |
924 | 927 | ||
925 | // mapping of yaw |
928 | // mapping of yaw |
926 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
929 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
927 | // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
930 | // (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
928 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
931 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
929 | { |
932 | { |
930 | if (StickYaw > 2) StickYaw-= 2; |
933 | if (StickYaw > 2) StickYaw-= 2; |
931 | else if (StickYaw< -2) StickYaw += 2; |
934 | else if (StickYaw< -2) StickYaw += 2; |
932 | else StickYaw = 0; |
935 | else StickYaw = 0; |
933 | } |
936 | } |
934 | 937 | ||
935 | // mapping of gas |
938 | // mapping of gas |
936 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
939 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
937 | 940 | ||
938 | // update gyro control loop factors |
941 | // update gyro control loop factors |
939 | GyroPFactor = FCParam.GyroP + 10; |
942 | GyroPFactor = FCParam.GyroP + 10; |
940 | GyroIFactor = FCParam.GyroI; |
943 | GyroIFactor = FCParam.GyroI; |
941 | GyroYawPFactor = FCParam.GyroP + 10; |
944 | GyroYawPFactor = FCParam.GyroP + 10; |
942 | GyroYawIFactor = FCParam.GyroI; |
945 | GyroYawIFactor = FCParam.GyroI; |
943 | 946 | ||
944 | 947 | ||
945 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
948 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
946 | //+ Analog control via serial communication |
949 | //+ Analog control via serial communication |
947 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
950 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
948 | 951 | ||
949 | if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
952 | if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
950 | { |
953 | { |
951 | StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.StickP; |
954 | StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.StickP; |
952 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.StickP; |
955 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.StickP; |
953 | StickYaw += ExternControl.Yaw; |
956 | StickYaw += ExternControl.Yaw; |
954 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
957 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
955 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
958 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
956 | } |
959 | } |
957 | if(StickGas < 0) StickGas = 0; |
960 | if(StickGas < 0) StickGas = 0; |
958 | 961 | ||
959 | // disable I part of gyro control feedback |
962 | // disable I part of gyro control feedback |
960 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) GyroIFactor = 0; |
963 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) GyroIFactor = 0; |
961 | 964 | ||
962 | // update max stick positions for nick and roll |
965 | // update max stick positions for nick and roll |
963 | if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
966 | if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
964 | { |
967 | { |
965 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
968 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
966 | if(MaxStickNick > 100) MaxStickNick = 100; |
969 | if(MaxStickNick > 100) MaxStickNick = 100; |
967 | } |
970 | } |
968 | else MaxStickNick--; |
971 | else MaxStickNick--; |
969 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
972 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
970 | { |
973 | { |
971 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
974 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
972 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
975 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
973 | } |
976 | } |
974 | else MaxStickRoll--; |
977 | else MaxStickRoll--; |
975 | 978 | ||
976 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
977 | // Looping? |
980 | // Looping? |
978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
981 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979 | 982 | ||
980 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_LEFT) LoopingLeft = 1; |
983 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_LEFT) LoopingLeft = 1; |
981 | else |
984 | else |
982 | { |
985 | { |
983 | if(LoopingLeft) // Hysteresis |
986 | if(LoopingLeft) // Hysteresis |
984 | { |
987 | { |
985 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingLeft = 0; |
988 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingLeft = 0; |
986 | } |
989 | } |
987 | } |
990 | } |
988 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_RIGHT) LoopingRight = 1; |
991 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_RIGHT) LoopingRight = 1; |
989 | else |
992 | else |
990 | { |
993 | { |
991 | if(LoopingRight) // Hysteresis |
994 | if(LoopingRight) // Hysteresis |
992 | { |
995 | { |
993 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingRight = 0; |
996 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingRight = 0; |
994 | } |
997 | } |
995 | } |
998 | } |
996 | 999 | ||
997 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_UP) LoopingTop = 1; |
1000 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_UP) LoopingTop = 1; |
998 | else |
1001 | else |
999 | { |
1002 | { |
1000 | if(LoopingTop) // Hysteresis |
1003 | if(LoopingTop) // Hysteresis |
1001 | { |
1004 | { |
1002 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingTop = 0; |
1005 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingTop = 0; |
1003 | } |
1006 | } |
1004 | } |
1007 | } |
1005 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_DOWN) LoopingDown = 1; |
1008 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_DOWN) LoopingDown = 1; |
1006 | else |
1009 | else |
1007 | { |
1010 | { |
1008 | if(LoopingDown) // Hysteresis |
1011 | if(LoopingDown) // Hysteresis |
1009 | { |
1012 | { |
1010 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingDown = 0; |
1013 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingDown = 0; |
1011 | } |
1014 | } |
1012 | } |
1015 | } |
1013 | 1016 | ||
1014 | if(LoopingLeft || LoopingRight) LoopingRoll = 1; else LoopingRoll = 0; |
1017 | if(LoopingLeft || LoopingRight) LoopingRoll = 1; else LoopingRoll = 0; |
1015 | if(LoopingTop || LoopingDown) { LoopingNick = 1; LoopingRoll = 0; LoopingLeft = 0; LoopingRight = 0;} else LoopingNick = 0; |
1018 | if(LoopingTop || LoopingDown) { LoopingNick = 1; LoopingRoll = 0; LoopingLeft = 0; LoopingRight = 0;} else LoopingNick = 0; |
1016 | } // End of new RC-Values or Emergency Landing |
1019 | } // End of new RC-Values or Emergency Landing |
1017 | 1020 | ||
1018 | 1021 | ||
1019 | if(LoopingRoll || LoopingNick) |
1022 | if(LoopingRoll || LoopingNick) |
1020 | { |
1023 | { |
1021 | if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
1024 | if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
1022 | FunnelCourse = 1; |
1025 | FunnelCourse = 1; |
1023 | } |
1026 | } |
1024 | 1027 | ||
1025 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1028 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1026 | // in case of emergency landing |
1029 | // in case of emergency landing |
1027 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1030 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1028 | // set all inputs to save values |
1031 | // set all inputs to save values |
1029 | if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
1032 | if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
1030 | { |
1033 | { |
1031 | StickYaw = 0; |
1034 | StickYaw = 0; |
1032 | StickNick = 0; |
1035 | StickNick = 0; |
1033 | StickRoll = 0; |
1036 | StickRoll = 0; |
1034 | GyroPFactor = 90; |
1037 | GyroPFactor = 90; |
1035 | GyroIFactor = 120; |
1038 | GyroIFactor = 120; |
1036 | GyroYawPFactor = 90; |
1039 | GyroYawPFactor = 90; |
1037 | GyroYawIFactor = 120; |
1040 | GyroYawIFactor = 120; |
1038 | LoopingRoll = 0; |
1041 | LoopingRoll = 0; |
1039 | LoopingNick = 0; |
1042 | LoopingNick = 0; |
1040 | MaxStickNick = 0; |
1043 | MaxStickNick = 0; |
1041 | MaxStickRoll = 0; |
1044 | MaxStickRoll = 0; |
1042 | } |
1045 | } |
1043 | 1046 | ||
1044 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1047 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | // Trim Gyro-Integrals to ACC-Signals |
1048 | // Trim Gyro-Integrals to ACC-Signals |
1046 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1049 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1047 | 1050 | ||
1048 | #define BALANCE_NUMBER 256L |
1051 | #define BALANCE_NUMBER 256L |
1049 | // sum for averaging |
1052 | // sum for averaging |
1050 | MeanIntegralGyroNick += IntegralGyroNick; |
1053 | MeanIntegralGyroNick += IntegralGyroNick; |
1051 | MeanIntegralGyroRoll += IntegralGyroRoll; |
1054 | MeanIntegralGyroRoll += IntegralGyroRoll; |
1052 | 1055 | ||
1053 | if( LoopingNick || LoopingRoll) // if looping in any direction |
1056 | if( LoopingNick || LoopingRoll) // if looping in any direction |
1054 | { |
1057 | { |
1055 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
1058 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
1056 | MeasurementCounter = 0; |
1059 | MeasurementCounter = 0; |
1057 | 1060 | ||
1058 | MeanAccNick = 0; |
1061 | MeanAccNick = 0; |
1059 | MeanAccRoll = 0; |
1062 | MeanAccRoll = 0; |
1060 | 1063 | ||
1061 | MeanIntegralGyroNick = 0; |
1064 | MeanIntegralGyroNick = 0; |
1062 | MeanIntegralGyroRoll = 0; |
1065 | MeanIntegralGyroRoll = 0; |
1063 | 1066 | ||
1064 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
1067 | ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
1065 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
1068 | ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
1066 | 1069 | ||
1067 | AttitudeCorrectionNick = 0; |
1070 | AttitudeCorrectionNick = 0; |
1068 | AttitudeCorrectionRoll = 0; |
1071 | AttitudeCorrectionRoll = 0; |
1069 | } |
1072 | } |
1070 | 1073 | ||
1071 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | if(! LoopingNick && !LoopingRoll && ( (AdValueAccZ > 512) || (MKFlags & MKFLAG_MOTOR_RUN) ) ) // if not lopping in any direction |
1075 | if(! LoopingNick && !LoopingRoll && ( (AdValueAccZ > 512) || (MKFlags & MKFLAG_MOTOR_RUN) ) ) // if not lopping in any direction |
1073 | { |
1076 | { |
1074 | int32_t tmp_long, tmp_long2; |
1077 | int32_t tmp_long, tmp_long2; |
1075 | if( FCParam.KalmanK != -1) |
1078 | if( FCParam.KalmanK != -1) |
1076 | { |
1079 | { |
1077 | // determine the deviation of gyro integral from averaged acceleration sensor |
1080 | // determine the deviation of gyro integral from averaged acceleration sensor |
1078 | tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
1081 | tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
1079 | tmp_long = (tmp_long * FCParam.KalmanK) / (32 * 16); |
1082 | tmp_long = (tmp_long * FCParam.KalmanK) / (32 * 16); |
1080 | tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
1083 | tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
1081 | tmp_long2 = (tmp_long2 * FCParam.KalmanK) / (32 * 16); |
1084 | tmp_long2 = (tmp_long2 * FCParam.KalmanK) / (32 * 16); |
1082 | 1085 | ||
1083 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
1086 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
1084 | { |
1087 | { |
1085 | tmp_long /= 2; |
1088 | tmp_long /= 2; |
1086 | tmp_long2 /= 2; |
1089 | tmp_long2 /= 2; |
1087 | } |
1090 | } |
1088 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
1091 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
1089 | { |
1092 | { |
1090 | tmp_long /= 3; |
1093 | tmp_long /= 3; |
1091 | tmp_long2 /= 3; |
1094 | tmp_long2 /= 3; |
1092 | } |
1095 | } |
1093 | // limit correction effect |
1096 | // limit correction effect |
1094 | if(tmp_long > (int32_t)FCParam.KalmanMaxFusion) tmp_long = (int32_t)FCParam.KalmanMaxFusion; |
1097 | if(tmp_long > (int32_t)FCParam.KalmanMaxFusion) tmp_long = (int32_t)FCParam.KalmanMaxFusion; |
1095 | if(tmp_long < -(int32_t)FCParam.KalmanMaxFusion) tmp_long =-(int32_t)FCParam.KalmanMaxFusion; |
1098 | if(tmp_long < -(int32_t)FCParam.KalmanMaxFusion) tmp_long =-(int32_t)FCParam.KalmanMaxFusion; |
1096 | if(tmp_long2 > (int32_t)FCParam.KalmanMaxFusion) tmp_long2 = (int32_t)FCParam.KalmanMaxFusion; |
1099 | if(tmp_long2 > (int32_t)FCParam.KalmanMaxFusion) tmp_long2 = (int32_t)FCParam.KalmanMaxFusion; |
1097 | if(tmp_long2 <-(int32_t)FCParam.KalmanMaxFusion) tmp_long2 =-(int32_t)FCParam.KalmanMaxFusion; |
1100 | if(tmp_long2 <-(int32_t)FCParam.KalmanMaxFusion) tmp_long2 =-(int32_t)FCParam.KalmanMaxFusion; |
1098 | } |
1101 | } |
1099 | else |
1102 | else |
1100 | { |
1103 | { |
1101 | // determine the deviation of gyro integral from acceleration sensor |
1104 | // determine the deviation of gyro integral from acceleration sensor |
1102 | tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
1105 | tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
1103 | tmp_long /= 16; |
1106 | tmp_long /= 16; |
1104 | tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
1107 | tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
1105 | tmp_long2 /= 16; |
1108 | tmp_long2 /= 16; |
1106 | 1109 | ||
1107 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
1110 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
1108 | { |
1111 | { |
1109 | tmp_long /= 3; |
1112 | tmp_long /= 3; |
1110 | tmp_long2 /= 3; |
1113 | tmp_long2 /= 3; |
1111 | } |
1114 | } |
1112 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
1115 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
1113 | { |
1116 | { |
1114 | tmp_long /= 3; |
1117 | tmp_long /= 3; |
1115 | tmp_long2 /= 3; |
1118 | tmp_long2 /= 3; |
1116 | } |
1119 | } |
1117 | 1120 | ||
1118 | #define BALANCE 32 |
1121 | #define BALANCE 32 |
1119 | // limit correction effect |
1122 | // limit correction effect |
1120 | CHECK_MIN_MAX(tmp_long, -BALANCE, BALANCE); |
1123 | CHECK_MIN_MAX(tmp_long, -BALANCE, BALANCE); |
1121 | CHECK_MIN_MAX(tmp_long2, -BALANCE, BALANCE); |
1124 | CHECK_MIN_MAX(tmp_long2, -BALANCE, BALANCE); |
1122 | } |
1125 | } |
1123 | // correct current readings |
1126 | // correct current readings |
1124 | ReadingIntegralGyroNick -= tmp_long; |
1127 | ReadingIntegralGyroNick -= tmp_long; |
1125 | ReadingIntegralGyroRoll -= tmp_long2; |
1128 | ReadingIntegralGyroRoll -= tmp_long2; |
1126 | } |
1129 | } |
1127 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1130 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1128 | // MeasurementCounter is incremented in the isr of analog.c |
1131 | // MeasurementCounter is incremented in the isr of analog.c |
1129 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
1132 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
1130 | { |
1133 | { |
1131 | static int16_t cnt = 0; |
1134 | static int16_t cnt = 0; |
1132 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
1135 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
1133 | static int32_t MeanIntegralGyroNick_old, MeanIntegralGyroRoll_old; |
1136 | static int32_t MeanIntegralGyroNick_old, MeanIntegralGyroRoll_old; |
1134 | 1137 | ||
1135 | // if not lopping in any direction (this should be always the case, |
1138 | // if not lopping in any direction (this should be always the case, |
1136 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
1139 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
1137 | if(! LoopingNick && !LoopingRoll && !FunnelCourse && ParamSet.DriftComp) |
1140 | if(! LoopingNick && !LoopingRoll && !FunnelCourse && ParamSet.DriftComp) |
1138 | { |
1141 | { |
1139 | // Calculate mean value of the gyro integrals |
1142 | // Calculate mean value of the gyro integrals |
1140 | MeanIntegralGyroNick /= BALANCE_NUMBER; |
1143 | MeanIntegralGyroNick /= BALANCE_NUMBER; |
1141 | MeanIntegralGyroRoll /= BALANCE_NUMBER; |
1144 | MeanIntegralGyroRoll /= BALANCE_NUMBER; |
1142 | 1145 | ||
1143 | // Calculate mean of the acceleration values scaled to the gyro integrals |
1146 | // Calculate mean of the acceleration values scaled to the gyro integrals |
1144 | MeanAccNick = (ParamSet.GyroAccFactor * MeanAccNick) / BALANCE_NUMBER; |
1147 | MeanAccNick = (ParamSet.GyroAccFactor * MeanAccNick) / BALANCE_NUMBER; |
1145 | MeanAccRoll = (ParamSet.GyroAccFactor * MeanAccRoll) / BALANCE_NUMBER; |
1148 | MeanAccRoll = (ParamSet.GyroAccFactor * MeanAccRoll) / BALANCE_NUMBER; |
1146 | 1149 | ||
1147 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1150 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1148 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
1151 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
1149 | IntegralGyroNickError = (int32_t)(MeanIntegralGyroNick - (int32_t)MeanAccNick); |
1152 | IntegralGyroNickError = (int32_t)(MeanIntegralGyroNick - (int32_t)MeanAccNick); |
1150 | CorrectionNick = IntegralGyroNickError / ParamSet.GyroAccTrim; |
1153 | CorrectionNick = IntegralGyroNickError / ParamSet.GyroAccTrim; |
1151 | AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
1154 | AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
1152 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1155 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
1156 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
1154 | IntegralGyroRollError = (int32_t)(MeanIntegralGyroRoll - (int32_t)MeanAccRoll); |
1157 | IntegralGyroRollError = (int32_t)(MeanIntegralGyroRoll - (int32_t)MeanAccRoll); |
1155 | CorrectionRoll = IntegralGyroRollError / ParamSet.GyroAccTrim; |
1158 | CorrectionRoll = IntegralGyroRollError / ParamSet.GyroAccTrim; |
1156 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
1159 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
1157 | 1160 | ||
1158 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) && (FCParam.KalmanK == -1) ) |
1161 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) && (FCParam.KalmanK == -1) ) |
1159 | { |
1162 | { |
1160 | AttitudeCorrectionNick /= 2; |
1163 | AttitudeCorrectionNick /= 2; |
1161 | AttitudeCorrectionRoll /= 2; |
1164 | AttitudeCorrectionRoll /= 2; |
1162 | } |
1165 | } |
1163 | 1166 | ||
1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1165 | // Gyro-Drift ermitteln |
1168 | // Gyro-Drift ermitteln |
1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | // deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
1170 | // deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
1168 | IntegralGyroNickError = IntegralGyroNick2 - IntegralGyroNick; |
1171 | IntegralGyroNickError = IntegralGyroNick2 - IntegralGyroNick; |
1169 | ReadingIntegralGyroNick2 -= IntegralGyroNickError; |
1172 | ReadingIntegralGyroNick2 -= IntegralGyroNickError; |
1170 | // deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
1173 | // deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
1171 | IntegralGyroRollError = IntegralGyroRoll2 - IntegralGyroRoll; |
1174 | IntegralGyroRollError = IntegralGyroRoll2 - IntegralGyroRoll; |
1172 | ReadingIntegralGyroRoll2 -= IntegralGyroRollError; |
1175 | ReadingIntegralGyroRoll2 -= IntegralGyroRollError; |
1173 | 1176 | ||
1174 | if(ParamSet.DriftComp) |
1177 | if(ParamSet.DriftComp) |
1175 | { |
1178 | { |
1176 | if(YawGyroDrift > BALANCE_NUMBER/2) AdBiasGyroYaw++; |
1179 | if(YawGyroDrift > BALANCE_NUMBER/2) AdBiasGyroYaw++; |
1177 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdBiasGyroYaw--; |
1180 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdBiasGyroYaw--; |
1178 | } |
1181 | } |
1179 | YawGyroDrift = 0; |
1182 | YawGyroDrift = 0; |
1180 | 1183 | ||
1181 | #define ERROR_LIMIT0 (BALANCE_NUMBER / 2) |
1184 | #define ERROR_LIMIT0 (BALANCE_NUMBER / 2) |
1182 | #define ERROR_LIMIT1 (BALANCE_NUMBER * 2) |
1185 | #define ERROR_LIMIT1 (BALANCE_NUMBER * 2) |
1183 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
1186 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
1184 | #define MOVEMENT_LIMIT 20000 |
1187 | #define MOVEMENT_LIMIT 20000 |
1185 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1188 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1186 | cnt = 1; |
1189 | cnt = 1; |
1187 | if(IntegralGyroNickError > ERROR_LIMIT1) cnt = 4; |
1190 | if(IntegralGyroNickError > ERROR_LIMIT1) cnt = 4; |
1188 | CorrectionNick = 0; |
1191 | CorrectionNick = 0; |
1189 | if((labs(MeanIntegralGyroNick_old - MeanIntegralGyroNick) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
1192 | if((labs(MeanIntegralGyroNick_old - MeanIntegralGyroNick) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
1190 | { |
1193 | { |
1191 | if(IntegralGyroNickError > ERROR_LIMIT2) |
1194 | if(IntegralGyroNickError > ERROR_LIMIT2) |
1192 | { |
1195 | { |
1193 | if(last_n_p) |
1196 | if(last_n_p) |
1194 | { |
1197 | { |
1195 | cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
1198 | cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
1196 | CorrectionNick = IntegralGyroNickError / 8; |
1199 | CorrectionNick = IntegralGyroNickError / 8; |
1197 | if(CorrectionNick > 5000) CorrectionNick = 5000; |
1200 | if(CorrectionNick > 5000) CorrectionNick = 5000; |
1198 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1201 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1199 | } |
1202 | } |
1200 | else last_n_p = 1; |
1203 | else last_n_p = 1; |
1201 | } |
1204 | } |
1202 | else last_n_p = 0; |
1205 | else last_n_p = 0; |
1203 | if(IntegralGyroNickError < -ERROR_LIMIT2) |
1206 | if(IntegralGyroNickError < -ERROR_LIMIT2) |
1204 | { |
1207 | { |
1205 | if(last_n_n) |
1208 | if(last_n_n) |
1206 | { |
1209 | { |
1207 | cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
1210 | cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
1208 | CorrectionNick = IntegralGyroNickError / 8; |
1211 | CorrectionNick = IntegralGyroNickError / 8; |
1209 | if(CorrectionNick < -5000) CorrectionNick = -5000; |
1212 | if(CorrectionNick < -5000) CorrectionNick = -5000; |
1210 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1213 | AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
1211 | } |
1214 | } |
1212 | else last_n_n = 1; |
1215 | else last_n_n = 1; |
1213 | } |
1216 | } |
1214 | else last_n_n = 0; |
1217 | else last_n_n = 0; |
1215 | } |
1218 | } |
1216 | else |
1219 | else |
1217 | { |
1220 | { |
1218 | cnt = 0; |
1221 | cnt = 0; |
1219 | BadCompassHeading = 1000; |
1222 | BadCompassHeading = 1000; |
1220 | } |
1223 | } |
1221 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1224 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1222 | if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
1225 | if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
1223 | // correct Gyro Offsets |
1226 | // correct Gyro Offsets |
1224 | if(IntegralGyroNickError > ERROR_LIMIT0) BiasHiResGyroNick += cnt; |
1227 | if(IntegralGyroNickError > ERROR_LIMIT0) BiasHiResGyroNick += cnt; |
1225 | if(IntegralGyroNickError < -ERROR_LIMIT0) BiasHiResGyroNick -= cnt; |
1228 | if(IntegralGyroNickError < -ERROR_LIMIT0) BiasHiResGyroNick -= cnt; |
1226 | 1229 | ||
1227 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1230 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1228 | cnt = 1; |
1231 | cnt = 1; |
1229 | if(IntegralGyroRollError > ERROR_LIMIT1) cnt = 4; |
1232 | if(IntegralGyroRollError > ERROR_LIMIT1) cnt = 4; |
1230 | CorrectionRoll = 0; |
1233 | CorrectionRoll = 0; |
1231 | if((labs(MeanIntegralGyroRoll_old - MeanIntegralGyroRoll) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
1234 | if((labs(MeanIntegralGyroRoll_old - MeanIntegralGyroRoll) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
1232 | { |
1235 | { |
1233 | if(IntegralGyroRollError > ERROR_LIMIT2) |
1236 | if(IntegralGyroRollError > ERROR_LIMIT2) |
1234 | { |
1237 | { |
1235 | if(last_r_p) |
1238 | if(last_r_p) |
1236 | { |
1239 | { |
1237 | cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
1240 | cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
1238 | CorrectionRoll = IntegralGyroRollError / 8; |
1241 | CorrectionRoll = IntegralGyroRollError / 8; |
1239 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1242 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
1240 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1243 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1241 | } |
1244 | } |
1242 | else last_r_p = 1; |
1245 | else last_r_p = 1; |
1243 | } |
1246 | } |
1244 | else last_r_p = 0; |
1247 | else last_r_p = 0; |
1245 | if(IntegralGyroRollError < -ERROR_LIMIT2) |
1248 | if(IntegralGyroRollError < -ERROR_LIMIT2) |
1246 | { |
1249 | { |
1247 | if(last_r_n) |
1250 | if(last_r_n) |
1248 | { |
1251 | { |
1249 | cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
1252 | cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
1250 | CorrectionRoll = IntegralGyroRollError / 8; |
1253 | CorrectionRoll = IntegralGyroRollError / 8; |
1251 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1254 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
1252 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1255 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
1253 | } |
1256 | } |
1254 | else last_r_n = 1; |
1257 | else last_r_n = 1; |
1255 | } |
1258 | } |
1256 | else last_r_n = 0; |
1259 | else last_r_n = 0; |
1257 | } |
1260 | } |
1258 | else |
1261 | else |
1259 | { |
1262 | { |
1260 | cnt = 0; |
1263 | cnt = 0; |
1261 | BadCompassHeading = 1000; |
1264 | BadCompassHeading = 1000; |
1262 | } |
1265 | } |
1263 | // correct Gyro Offsets |
1266 | // correct Gyro Offsets |
1264 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1267 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
1265 | if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
1268 | if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
1266 | if(IntegralGyroRollError > ERROR_LIMIT0) BiasHiResGyroRoll += cnt; |
1269 | if(IntegralGyroRollError > ERROR_LIMIT0) BiasHiResGyroRoll += cnt; |
1267 | if(IntegralGyroRollError < -ERROR_LIMIT0) BiasHiResGyroRoll -= cnt; |
1270 | if(IntegralGyroRollError < -ERROR_LIMIT0) BiasHiResGyroRoll -= cnt; |
1268 | 1271 | ||
1269 | } |
1272 | } |
1270 | else // looping is active |
1273 | else // looping is active |
1271 | { |
1274 | { |
1272 | AttitudeCorrectionRoll = 0; |
1275 | AttitudeCorrectionRoll = 0; |
1273 | AttitudeCorrectionNick = 0; |
1276 | AttitudeCorrectionNick = 0; |
1274 | FunnelCourse = 0; |
1277 | FunnelCourse = 0; |
1275 | } |
1278 | } |
1276 | 1279 | ||
1277 | // if GyroIFactor == 0 , for example at Heading Hold, ignore attitude correction |
1280 | // if GyroIFactor == 0 , for example at Heading Hold, ignore attitude correction |
1278 | if(!GyroIFactor) |
1281 | if(!GyroIFactor) |
1279 | { |
1282 | { |
1280 | AttitudeCorrectionRoll = 0; |
1283 | AttitudeCorrectionRoll = 0; |
1281 | AttitudeCorrectionNick = 0; |
1284 | AttitudeCorrectionNick = 0; |
1282 | } |
1285 | } |
1283 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1286 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1284 | MeanIntegralGyroNick_old = MeanIntegralGyroNick; |
1287 | MeanIntegralGyroNick_old = MeanIntegralGyroNick; |
1285 | MeanIntegralGyroRoll_old = MeanIntegralGyroRoll; |
1288 | MeanIntegralGyroRoll_old = MeanIntegralGyroRoll; |
1286 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1289 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1287 | // reset variables used for next averaging |
1290 | // reset variables used for next averaging |
1288 | MeanAccNick = 0; |
1291 | MeanAccNick = 0; |
1289 | MeanAccRoll = 0; |
1292 | MeanAccRoll = 0; |
1290 | MeanIntegralGyroNick = 0; |
1293 | MeanIntegralGyroNick = 0; |
1291 | MeanIntegralGyroRoll = 0; |
1294 | MeanIntegralGyroRoll = 0; |
1292 | MeasurementCounter = 0; |
1295 | MeasurementCounter = 0; |
1293 | } // end of averaging |
1296 | } // end of averaging |
1294 | 1297 | ||
1295 | 1298 | ||
1296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1299 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1297 | // Yawing |
1300 | // Yawing |
1298 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1301 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1299 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
1302 | if(abs(StickYaw) > 15 ) // yaw stick is activated |
1300 | { |
1303 | { |
1301 | BadCompassHeading = 1000; |
1304 | BadCompassHeading = 1000; |
1302 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1305 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
1303 | { |
1306 | { |
1304 | UpdateCompassCourse = 1; |
1307 | UpdateCompassCourse = 1; |
1305 | } |
1308 | } |
1306 | } |
1309 | } |
1307 | // exponential stick sensitivity in yawring rate |
1310 | // exponential stick sensitivity in yawring rate |
1308 | tmp_int = (int32_t) ParamSet.StickYawP * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1311 | tmp_int = (int32_t) ParamSet.StickYawP * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1309 | tmp_int += (ParamSet.StickYawP * StickYaw) / 4; |
1312 | tmp_int += (ParamSet.StickYawP * StickYaw) / 4; |
1310 | SetPointYaw = tmp_int; |
1313 | SetPointYaw = tmp_int; |
1311 | // trimm drift of ReadingIntegralGyroYaw with SetPointYaw(StickYaw) |
1314 | // trimm drift of ReadingIntegralGyroYaw with SetPointYaw(StickYaw) |
1312 | ReadingIntegralGyroYaw -= tmp_int; |
1315 | ReadingIntegralGyroYaw -= tmp_int; |
1313 | // limit the effect |
1316 | // limit the effect |
1314 | CHECK_MIN_MAX(ReadingIntegralGyroYaw, -50000, 50000) |
1317 | CHECK_MIN_MAX(ReadingIntegralGyroYaw, -50000, 50000) |
1315 | 1318 | ||
1316 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1319 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1317 | // Compass |
1320 | // Compass |
1318 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1321 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1319 | // compass code is used if Compass option is selected |
1322 | // compass code is used if Compass option is selected |
1320 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
1323 | if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
1321 | { |
1324 | { |
1322 | int16_t w, v, r,correction, error; |
1325 | int16_t w, v, r,correction, error; |
1323 | 1326 | ||
1324 | if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
1327 | if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
1325 | { |
1328 | { |
1326 | SetCompassCalState(); |
1329 | SetCompassCalState(); |
1327 | #ifdef USE_KILLAGREG |
1330 | #ifdef USE_KILLAGREG |
1328 | MM3_Calibrate(); |
1331 | MM3_Calibrate(); |
1329 | #endif |
1332 | #endif |
1330 | } |
1333 | } |
1331 | else |
1334 | else |
1332 | { |
1335 | { |
1333 | #ifdef USE_KILLAGREG |
1336 | #ifdef USE_KILLAGREG |
1334 | static uint8_t updCompass = 0; |
1337 | static uint8_t updCompass = 0; |
1335 | if (!updCompass--) |
1338 | if (!updCompass--) |
1336 | { |
1339 | { |
1337 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1340 | updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
1338 | MM3_Heading(); |
1341 | MM3_Heading(); |
1339 | } |
1342 | } |
1340 | #endif |
1343 | #endif |
1341 | 1344 | ||
1342 | // get maximum attitude angle |
1345 | // get maximum attitude angle |
1343 | w = abs(IntegralGyroNick / 512); |
1346 | w = abs(IntegralGyroNick / 512); |
1344 | v = abs(IntegralGyroRoll / 512); |
1347 | v = abs(IntegralGyroRoll / 512); |
1345 | if(v > w) w = v; |
1348 | if(v > w) w = v; |
1346 | correction = w / 8 + 1; |
1349 | correction = w / 8 + 1; |
1347 | // calculate the deviation of the yaw gyro heading and the compass heading |
1350 | // calculate the deviation of the yaw gyro heading and the compass heading |
1348 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
1351 | if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
1349 | else error = ((540 + CompassHeading - (YawGyroHeading / GYRO_DEG_FACTOR)) % 360) - 180; |
1352 | else error = ((540 + CompassHeading - (YawGyroHeading / GYRO_DEG_FACTOR)) % 360) - 180; |
1350 | if(abs(GyroYaw) > 128) // spinning fast |
1353 | if(abs(GyroYaw) > 128) // spinning fast |
1351 | { |
1354 | { |
1352 | error = 0; |
1355 | error = 0; |
1353 | } |
1356 | } |
1354 | if(!BadCompassHeading && w < 25) |
1357 | if(!BadCompassHeading && w < 25) |
1355 | { |
1358 | { |
1356 | YawGyroDrift += error; |
1359 | YawGyroDrift += error; |
1357 | if(UpdateCompassCourse) |
1360 | if(UpdateCompassCourse) |
1358 | { |
1361 | { |
1359 | BeepTime = 200; |
1362 | BeepTime = 200; |
1360 | YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
1363 | YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
1361 | CompassCourse = (int16_t)(YawGyroHeading / GYRO_DEG_FACTOR); |
1364 | CompassCourse = (int16_t)(YawGyroHeading / GYRO_DEG_FACTOR); |
1362 | UpdateCompassCourse = 0; |
1365 | UpdateCompassCourse = 0; |
1363 | } |
1366 | } |
1364 | } |
1367 | } |
1365 | YawGyroHeading += (error * 8) / correction; |
1368 | YawGyroHeading += (error * 8) / correction; |
1366 | w = (w * FCParam.CompassYawEffect) / 32; |
1369 | w = (w * FCParam.CompassYawEffect) / 32; |
1367 | w = FCParam.CompassYawEffect - w; |
1370 | w = FCParam.CompassYawEffect - w; |
1368 | if(w >= 0) |
1371 | if(w >= 0) |
1369 | { |
1372 | { |
1370 | if(!BadCompassHeading) |
1373 | if(!BadCompassHeading) |
1371 | { |
1374 | { |
1372 | v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
1375 | v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
1373 | // calc course deviation |
1376 | // calc course deviation |
1374 | r = ((540 + (YawGyroHeading / GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
1377 | r = ((540 + (YawGyroHeading / GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
1375 | v = (r * w) / v; // align to compass course |
1378 | v = (r * w) / v; // align to compass course |
1376 | // limit yaw rate |
1379 | // limit yaw rate |
1377 | w = 3 * FCParam.CompassYawEffect; |
1380 | w = 3 * FCParam.CompassYawEffect; |
1378 | if (v > w) v = w; |
1381 | if (v > w) v = w; |
1379 | else if (v < -w) v = -w; |
1382 | else if (v < -w) v = -w; |
1380 | ReadingIntegralGyroYaw += v; |
1383 | ReadingIntegralGyroYaw += v; |
1381 | } |
1384 | } |
1382 | else |
1385 | else |
1383 | { // wait a while |
1386 | { // wait a while |
1384 | BadCompassHeading--; |
1387 | BadCompassHeading--; |
1385 | } |
1388 | } |
1386 | } |
1389 | } |
1387 | else |
1390 | else |
1388 | { // ignore compass at extreme attitudes for a while |
1391 | { // ignore compass at extreme attitudes for a while |
1389 | BadCompassHeading = 500; |
1392 | BadCompassHeading = 500; |
1390 | } |
1393 | } |
1391 | } |
1394 | } |
1392 | } |
1395 | } |
1393 | 1396 | ||
1394 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
1397 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
1395 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1398 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1396 | // GPS |
1399 | // GPS |
1397 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1400 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1398 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1401 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1399 | { |
1402 | { |
1400 | GPS_Main(); |
1403 | GPS_Main(); |
1401 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
1404 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
1402 | } |
1405 | } |
1403 | else |
1406 | else |
1404 | { |
1407 | { |
1405 | GPSStickNick = 0; |
1408 | GPSStickNick = 0; |
1406 | GPSStickRoll = 0; |
1409 | GPSStickRoll = 0; |
1407 | } |
1410 | } |
1408 | #endif |
1411 | #endif |
1409 | 1412 | ||
1410 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1413 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1411 | // Debugwerte zuordnen |
1414 | // Debugwerte zuordnen |
1412 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1415 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1413 | if(!TimerDebugOut--) |
1416 | if(!TimerDebugOut--) |
1414 | { |
1417 | { |
1415 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1418 | TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
1416 | DebugOut.Analog[0] = (10 * IntegralGyroNick) / GYRO_DEG_FACTOR; // in 0.1 deg |
1419 | DebugOut.Analog[0] = (10 * IntegralGyroNick) / GYRO_DEG_FACTOR; // in 0.1 deg |
1417 | DebugOut.Analog[1] = (10 * IntegralGyroRoll) / GYRO_DEG_FACTOR; // in 0.1 deg |
1420 | DebugOut.Analog[1] = (10 * IntegralGyroRoll) / GYRO_DEG_FACTOR; // in 0.1 deg |
1418 | DebugOut.Analog[2] = (10 * AccNick) / ACC_DEG_FACTOR; // in 0.1 deg |
1421 | DebugOut.Analog[2] = (10 * AccNick) / ACC_DEG_FACTOR; // in 0.1 deg |
1419 | DebugOut.Analog[3] = (10 * AccRoll) / ACC_DEG_FACTOR; // in 0.1 deg |
1422 | DebugOut.Analog[3] = (10 * AccRoll) / ACC_DEG_FACTOR; // in 0.1 deg |
1420 | DebugOut.Analog[4] = GyroYaw; |
1423 | DebugOut.Analog[4] = GyroYaw; |
1421 | DebugOut.Analog[5] = ReadingHeight; |
1424 | DebugOut.Analog[5] = ReadingHeight; |
1422 | DebugOut.Analog[6] = (ReadingIntegralTop / 512); |
1425 | DebugOut.Analog[6] = (ReadingIntegralTop / 512); |
1423 | DebugOut.Analog[8] = CompassHeading; |
1426 | DebugOut.Analog[8] = CompassHeading; |
1424 | DebugOut.Analog[9] = UBat; |
1427 | DebugOut.Analog[9] = UBat; |
1425 | DebugOut.Analog[10] = RC_Quality; |
1428 | DebugOut.Analog[10] = RC_Quality; |
1426 | DebugOut.Analog[11] = YawGyroHeading / GYRO_DEG_FACTOR; |
1429 | DebugOut.Analog[11] = YawGyroHeading / GYRO_DEG_FACTOR; |
1427 | DebugOut.Analog[19] = CompassCalState; |
1430 | DebugOut.Analog[19] = CompassCalState; |
1428 | // DebugOut.Analog[24] = GyroNick/2; |
1431 | // DebugOut.Analog[24] = GyroNick/2; |
1429 | // DebugOut.Analog[25] = GyroRoll/2; |
1432 | // DebugOut.Analog[25] = GyroRoll/2; |
1430 | DebugOut.Analog[27] = (int16_t)FCParam.KalmanMaxDrift; |
1433 | DebugOut.Analog[27] = (int16_t)FCParam.KalmanMaxDrift; |
1431 | // DebugOut.Analog[28] = (int16_t)FCParam.KalmanMaxFusion; |
1434 | // DebugOut.Analog[28] = (int16_t)FCParam.KalmanMaxFusion; |
1432 | DebugOut.Analog[30] = GPSStickNick; |
1435 | DebugOut.Analog[30] = GPSStickNick; |
1433 | DebugOut.Analog[31] = GPSStickRoll; |
1436 | DebugOut.Analog[31] = GPSStickRoll; |
1434 | } |
1437 | } |
1435 | 1438 | ||
1436 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1437 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1440 | // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
1438 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1439 | 1442 | ||
1440 | #define TRIM_LIMIT 200 |
1443 | #define TRIM_LIMIT 200 |
1441 | CHECK_MIN_MAX(TrimNick, -TRIM_LIMIT, TRIM_LIMIT); |
1444 | CHECK_MIN_MAX(TrimNick, -TRIM_LIMIT, TRIM_LIMIT); |
1442 | CHECK_MIN_MAX(TrimRoll, -TRIM_LIMIT, TRIM_LIMIT); |
1445 | CHECK_MIN_MAX(TrimRoll, -TRIM_LIMIT, TRIM_LIMIT); |
1443 | 1446 | ||
1444 | if(FunnelCourse) |
1447 | if(FunnelCourse) |
1445 | { |
1448 | { |
1446 | IPartNick = 0; |
1449 | IPartNick = 0; |
1447 | IPartRoll = 0; |
1450 | IPartRoll = 0; |
1448 | } |
1451 | } |
1449 | 1452 | ||
1450 | if(! LoopingNick) |
1453 | if(! LoopingNick) |
1451 | { |
1454 | { |
1452 | PPartNick = (IntegralGyroNick * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
1455 | PPartNick = (IntegralGyroNick * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
1453 | } |
1456 | } |
1454 | else |
1457 | else |
1455 | { |
1458 | { |
1456 | PPartNick = 0; |
1459 | PPartNick = 0; |
1457 | } |
1460 | } |
1458 | PDPartNick = PPartNick + (int32_t)((int32_t)GyroNick * GyroPFactor + (int32_t)TrimNick * 128L) / (256L / STICK_GAIN); // +D-Part |
1461 | PDPartNick = PPartNick + (int32_t)((int32_t)GyroNick * GyroPFactor + (int32_t)TrimNick * 128L) / (256L / STICK_GAIN); // +D-Part |
1459 | 1462 | ||
1460 | if(!LoopingRoll) |
1463 | if(!LoopingRoll) |
1461 | { |
1464 | { |
1462 | PPartRoll = (IntegralGyroRoll * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
1465 | PPartRoll = (IntegralGyroRoll * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
1463 | } |
1466 | } |
1464 | else |
1467 | else |
1465 | { |
1468 | { |
1466 | PPartRoll = 0; |
1469 | PPartRoll = 0; |
1467 | } |
1470 | } |
1468 | PDPartRoll = PPartRoll + (int32_t)((int32_t)GyroRoll * GyroPFactor + (int32_t)TrimRoll * 128L) / (256L / STICK_GAIN); // +D-Part |
1471 | PDPartRoll = PPartRoll + (int32_t)((int32_t)GyroRoll * GyroPFactor + (int32_t)TrimRoll * 128L) / (256L / STICK_GAIN); // +D-Part |
1469 | 1472 | ||
1470 | PDPartYaw = (int32_t)(GyroYaw * 2 * (int32_t)GyroYawPFactor) / (256L / STICK_GAIN) + (int32_t)(IntegralGyroYaw * GyroYawIFactor) / (2 * (44000 / STICK_GAIN)); |
1473 | PDPartYaw = (int32_t)(GyroYaw * 2 * (int32_t)GyroYawPFactor) / (256L / STICK_GAIN) + (int32_t)(IntegralGyroYaw * GyroYawIFactor) / (2 * (44000 / STICK_GAIN)); |
1471 | 1474 | ||
1472 | //DebugOut.Analog[21] = PDPartNick; |
1475 | //DebugOut.Analog[21] = PDPartNick; |
1473 | //DebugOut.Analog[22] = PDPartRoll; |
1476 | //DebugOut.Analog[22] = PDPartRoll; |
1474 | 1477 | ||
1475 | // limit control feedback |
1478 | // limit control feedback |
1476 | #define SENSOR_LIMIT (4096 * 4) |
1479 | #define SENSOR_LIMIT (4096 * 4) |
1477 | CHECK_MIN_MAX(PDPartNick, -SENSOR_LIMIT, SENSOR_LIMIT); |
1480 | CHECK_MIN_MAX(PDPartNick, -SENSOR_LIMIT, SENSOR_LIMIT); |
1478 | CHECK_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
1481 | CHECK_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
1479 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
1482 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
1480 | 1483 | ||
1481 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1484 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1482 | // all BL-Ctrl connected? |
1485 | // all BL-Ctrl connected? |
1483 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1486 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1484 | if(MissingMotor) |
1487 | if(MissingMotor) |
1485 | { |
1488 | { |
1486 | // if we are in the lift off condition |
1489 | // if we are in the lift off condition |
1487 | if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (GasMixFraction > 0) ) |
1490 | if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (GasMixFraction > 0) ) |
1488 | ModelIsFlying = 1; // keep within lift off condition |
1491 | ModelIsFlying = 1; // keep within lift off condition |
1489 | GasMixFraction = ParamSet.GasMin; // reduce gas to min to avoid lift of |
1492 | GasMixFraction = ParamSet.GasMin; // reduce gas to min to avoid lift of |
1490 | } |
1493 | } |
1491 | 1494 | ||
1492 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1495 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1493 | // Height Control |
1496 | // Height Control |
1494 | // The height control algorithm reduces the gas but does not increase the gas. |
1497 | // The height control algorithm reduces the gas but does not increase the gas. |
1495 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1496 | 1499 | ||
1497 | GasMixFraction *= STICK_GAIN; |
1500 | GasMixFraction *= STICK_GAIN; |
1498 | 1501 | ||
1499 | // if height control is activated and no emergency landing is active |
1502 | // if height control is activated and no emergency landing is active |
1500 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
1503 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
1501 | { |
1504 | { |
1502 | int tmp_int; |
1505 | int tmp_int; |
1503 | static uint8_t delay = 100; |
1506 | static uint8_t delay = 100; |
1504 | // if height control is activated by an rc channel |
1507 | // if height control is activated by an rc channel |
1505 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1508 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
1506 | { // check if parameter is less than activation threshold |
1509 | { // check if parameter is less than activation threshold |
1507 | if( |
1510 | if( |
1508 | ( (ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && ( (FCParam.MaxHeight > 80) && (FCParam.MaxHeight < 140) ) )|| // for 3-state switch height control is only disabled in center position |
1511 | ( (ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && ( (FCParam.MaxHeight > 80) && (FCParam.MaxHeight < 140) ) )|| // for 3-state switch height control is only disabled in center position |
1509 | (!(ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && (FCParam.MaxHeight < 50) ) // for 2-State switch height control is disabled in lower position |
1512 | (!(ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && (FCParam.MaxHeight < 50) ) // for 2-State switch height control is disabled in lower position |
1510 | ) |
1513 | ) |
1511 | { //hight control not active |
1514 | { //hight control not active |
1512 | if(!delay--) |
1515 | if(!delay--) |
1513 | { |
1516 | { |
1514 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1517 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1515 | if( (ReadingAirPressure > 1000) && (OCR0A < 255) ) |
1518 | if( (ReadingAirPressure > 1000) && (OCR0A < 255) ) |
1516 | { // increase offset |
1519 | { // increase offset |
1517 | if(OCR0A < 244) |
1520 | if(OCR0A < 244) |
1518 | { |
1521 | { |
1519 | ExpandBaro -= 10; |
1522 | ExpandBaro -= 10; |
1520 | OCR0A = PressureSensorOffset - ExpandBaro; |
1523 | OCR0A = PressureSensorOffset - ExpandBaro; |
1521 | } |
1524 | } |
1522 | else |
1525 | else |
1523 | { |
1526 | { |
1524 | OCR0A = 254; |
1527 | OCR0A = 254; |
1525 | } |
1528 | } |
1526 | BeepTime = 300; |
1529 | BeepTime = 300; |
1527 | delay = 250; |
1530 | delay = 250; |
1528 | } |
1531 | } |
1529 | // measurement of air pressure close to lower limit and |
1532 | // measurement of air pressure close to lower limit and |
1530 | else if( (ReadingAirPressure < 100) && (OCR0A > 1) ) |
1533 | else if( (ReadingAirPressure < 100) && (OCR0A > 1) ) |
1531 | { // decrease offset |
1534 | { // decrease offset |
1532 | if(OCR0A > 10) |
1535 | if(OCR0A > 10) |
1533 | { |
1536 | { |
1534 | ExpandBaro += 10; |
1537 | ExpandBaro += 10; |
1535 | OCR0A = PressureSensorOffset - ExpandBaro; |
1538 | OCR0A = PressureSensorOffset - ExpandBaro; |
1536 | } |
1539 | } |
1537 | else |
1540 | else |
1538 | { |
1541 | { |
1539 | OCR0A = 1; |
1542 | OCR0A = 1; |
1540 | } |
1543 | } |
1541 | BeepTime = 300; |
1544 | BeepTime = 300; |
1542 | delay = 250; |
1545 | delay = 250; |
1543 | } |
1546 | } |
1544 | else |
1547 | else |
1545 | { |
1548 | { |
1546 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1549 | SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
1547 | HeightControlActive = 0; // disable height control |
1550 | HeightControlActive = 0; // disable height control |
1548 | delay = 1; |
1551 | delay = 1; |
1549 | } |
1552 | } |
1550 | } |
1553 | } |
1551 | } |
1554 | } |
1552 | else |
1555 | else |
1553 | { //hight control not active |
1556 | { //hight control not active |
1554 | HeightControlActive = 1; // enable height control |
1557 | HeightControlActive = 1; // enable height control |
1555 | delay = 200; |
1558 | delay = 200; |
1556 | } |
1559 | } |
1557 | } |
1560 | } |
1558 | else // no switchable height control |
1561 | else // no switchable height control |
1559 | { |
1562 | { |
1560 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1563 | SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
1561 | HeightControlActive = 1; |
1564 | HeightControlActive = 1; |
1562 | } |
1565 | } |
1563 | // get current height |
1566 | // get current height |
1564 | h = ReadingHeight; |
1567 | h = ReadingHeight; |
1565 | // if current height is above the setpoint reduce gas |
1568 | // if current height is above the setpoint reduce gas |
1566 | if((h > SetPointHeight) && HeightControlActive) |
1569 | if((h > SetPointHeight) && HeightControlActive) |
1567 | { |
1570 | { |
1568 | // height difference -> P control part |
1571 | // height difference -> P control part |
1569 | h = ((h - SetPointHeight) * (int16_t) FCParam.HeightP) / (16 / STICK_GAIN); |
1572 | h = ((h - SetPointHeight) * (int16_t) FCParam.HeightP) / (16 / STICK_GAIN); |
1570 | h = GasMixFraction - h; // reduce gas |
1573 | h = GasMixFraction - h; // reduce gas |
1571 | // height gradient --> D control part |
1574 | // height gradient --> D control part |
1572 | //h -= (HeightD * FCParam.HeightD) / (8 / STICK_GAIN); // D control part |
1575 | //h -= (HeightD * FCParam.HeightD) / (8 / STICK_GAIN); // D control part |
1573 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1576 | h -= (HeightD) / (8 / STICK_GAIN); // D control part |
1574 | // acceleration sensor effect |
1577 | // acceleration sensor effect |
1575 | tmp_int = ((ReadingIntegralTop / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
1578 | tmp_int = ((ReadingIntegralTop / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
1576 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1579 | if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
1577 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
1580 | else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
1578 | h -= tmp_int; |
1581 | h -= tmp_int; |
1579 | // update height control gas |
1582 | // update height control gas |
1580 | HeightControlGas = (HeightControlGas*15 + h) / 16; |
1583 | HeightControlGas = (HeightControlGas*15 + h) / 16; |
1581 | // limit gas reduction |
1584 | // limit gas reduction |
1582 | if(HeightControlGas < ParamSet.HeightMinGas * STICK_GAIN) |
1585 | if(HeightControlGas < ParamSet.HeightMinGas * STICK_GAIN) |
1583 | { |
1586 | { |
1584 | if(GasMixFraction >= ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = ParamSet.HeightMinGas * STICK_GAIN; |
1587 | if(GasMixFraction >= ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = ParamSet.HeightMinGas * STICK_GAIN; |
1585 | // allows landing also if gas stick is reduced below min gas on height control |
1588 | // allows landing also if gas stick is reduced below min gas on height control |
1586 | if(GasMixFraction < ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
1589 | if(GasMixFraction < ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
1587 | } |
1590 | } |
1588 | // limit gas to stick setting |
1591 | // limit gas to stick setting |
1589 | if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
1592 | if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
1590 | GasMixFraction = HeightControlGas; |
1593 | GasMixFraction = HeightControlGas; |
1591 | } |
1594 | } |
1592 | } |
1595 | } |
1593 | // limit gas to parameter setting |
1596 | // limit gas to parameter setting |
1594 | if(GasMixFraction > (ParamSet.GasMax - 20) * STICK_GAIN) GasMixFraction = (ParamSet.GasMax - 20) * STICK_GAIN; |
1597 | if(GasMixFraction > (ParamSet.GasMax - 20) * STICK_GAIN) GasMixFraction = (ParamSet.GasMax - 20) * STICK_GAIN; |
1595 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1596 | // + Mixer and PI-Controller |
1599 | // + Mixer and PI-Controller |
1597 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1600 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1598 | DebugOut.Analog[7] = GasMixFraction; |
1601 | DebugOut.Analog[7] = GasMixFraction; |
1599 | 1602 | ||
1600 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1603 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1601 | // Yaw-Fraction |
1604 | // Yaw-Fraction |
1602 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1603 | YawMixFraction = PDPartYaw - SetPointYaw * STICK_GAIN; // yaw controller |
1606 | YawMixFraction = PDPartYaw - SetPointYaw * STICK_GAIN; // yaw controller |
1604 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
1607 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
1605 | // limit YawMixFraction |
1608 | // limit YawMixFraction |
1606 | if(GasMixFraction > MIN_YAWGAS) |
1609 | if(GasMixFraction > MIN_YAWGAS) |
1607 | { |
1610 | { |
1608 | CHECK_MIN_MAX(YawMixFraction, -(GasMixFraction / 2), (GasMixFraction / 2)); |
1611 | CHECK_MIN_MAX(YawMixFraction, -(GasMixFraction / 2), (GasMixFraction / 2)); |
1609 | } |
1612 | } |
1610 | else |
1613 | else |
1611 | { |
1614 | { |
1612 | CHECK_MIN_MAX(YawMixFraction, -(MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
1615 | CHECK_MIN_MAX(YawMixFraction, -(MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
1613 | } |
1616 | } |
1614 | tmp_int = ParamSet.GasMax * STICK_GAIN; |
1617 | tmp_int = ParamSet.GasMax * STICK_GAIN; |
1615 | CHECK_MIN_MAX(YawMixFraction, -(tmp_int - GasMixFraction), (tmp_int - GasMixFraction)); |
1618 | CHECK_MIN_MAX(YawMixFraction, -(tmp_int - GasMixFraction), (tmp_int - GasMixFraction)); |
1616 | 1619 | ||
1617 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1620 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1618 | // Nick-Axis |
1621 | // Nick-Axis |
1619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1620 | DiffNick = PDPartNick - StickNick; // get difference |
1623 | DiffNick = PDPartNick - StickNick; // get difference |
1621 | if(GyroIFactor) IPartNick += PPartNick - StickNick; // I-part for attitude control |
1624 | if(GyroIFactor) IPartNick += PPartNick - StickNick; // I-part for attitude control |
1622 | else IPartNick += DiffNick; // I-part for head holding |
1625 | else IPartNick += DiffNick; // I-part for head holding |
1623 | CHECK_MIN_MAX(IPartNick, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
1626 | CHECK_MIN_MAX(IPartNick, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
1624 | NickMixFraction = DiffNick + (IPartNick / Ki); // PID-controller for nick |
1627 | NickMixFraction = DiffNick + (IPartNick / Ki); // PID-controller for nick |
1625 | 1628 | ||
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1627 | // Roll-Axis |
1630 | // Roll-Axis |
1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1629 | DiffRoll = PDPartRoll - StickRoll; // get difference |
1632 | DiffRoll = PDPartRoll - StickRoll; // get difference |
1630 | if(GyroIFactor) IPartRoll += PPartRoll - StickRoll; // I-part for attitude control |
1633 | if(GyroIFactor) IPartRoll += PPartRoll - StickRoll; // I-part for attitude control |
1631 | else IPartRoll += DiffRoll; // I-part for head holding |
1634 | else IPartRoll += DiffRoll; // I-part for head holding |
1632 | CHECK_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
1635 | CHECK_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
1633 | RollMixFraction = DiffRoll + (IPartRoll / Ki); // PID-controller for roll |
1636 | RollMixFraction = DiffRoll + (IPartRoll / Ki); // PID-controller for roll |
1634 | 1637 | ||
1635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1636 | // Limiter |
1639 | // Limiter |
1637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1640 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1638 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction) / 2)) / 64; |
1641 | tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction) / 2)) / 64; |
1639 | CHECK_MIN_MAX(NickMixFraction, -tmp_int, tmp_int); |
1642 | CHECK_MIN_MAX(NickMixFraction, -tmp_int, tmp_int); |
1640 | CHECK_MIN_MAX(RollMixFraction, -tmp_int, tmp_int); |
1643 | CHECK_MIN_MAX(RollMixFraction, -tmp_int, tmp_int); |
1641 | 1644 | ||
1642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1643 | // Universal Mixer |
1646 | // Universal Mixer |
1644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | for(i = 0; i < MAX_MOTORS; i++) |
1648 | for(i = 0; i < MAX_MOTORS; i++) |
1646 | { |
1649 | { |
1647 | int16_t tmp; |
1650 | int16_t tmp; |
1648 | if(Mixer.Motor[i][MIX_GAS] > 0) // if gas then mixer |
1651 | if(Mixer.Motor[i][MIX_GAS] > 0) // if gas then mixer |
1649 | { |
1652 | { |
1650 | tmp = ((int32_t)GasMixFraction * Mixer.Motor[i][MIX_GAS] ) / 64L; |
1653 | tmp = ((int32_t)GasMixFraction * Mixer.Motor[i][MIX_GAS] ) / 64L; |
1651 | tmp += ((int32_t)NickMixFraction * Mixer.Motor[i][MIX_NICK]) / 64L; |
1654 | tmp += ((int32_t)NickMixFraction * Mixer.Motor[i][MIX_NICK]) / 64L; |
1652 | tmp += ((int32_t)RollMixFraction * Mixer.Motor[i][MIX_ROLL]) / 64L; |
1655 | tmp += ((int32_t)RollMixFraction * Mixer.Motor[i][MIX_ROLL]) / 64L; |
1653 | tmp += ((int32_t)YawMixFraction * Mixer.Motor[i][MIX_YAW] ) / 64L; |
1656 | tmp += ((int32_t)YawMixFraction * Mixer.Motor[i][MIX_YAW] ) / 64L; |
1654 | MotorValue[i] = MotorSmoothing(tmp, MotorValue[i]); // Spike Filter |
1657 | MotorValue[i] = MotorSmoothing(tmp, MotorValue[i]); // Spike Filter |
1655 | tmp = MotorValue[i] / STICK_GAIN; |
1658 | tmp = MotorValue[i] / STICK_GAIN; |
1656 | CHECK_MIN_MAX(tmp, ParamSet.GasMin, ParamSet.GasMax); |
1659 | CHECK_MIN_MAX(tmp, ParamSet.GasMin, ParamSet.GasMax); |
1657 | Motor[i].SetPoint = tmp; |
1660 | Motor[i].SetPoint = tmp; |
1658 | } |
1661 | } |
1659 | else Motor[i].SetPoint = 0; |
1662 | else Motor[i].SetPoint = 0; |
1660 | } |
1663 | } |
1661 | } |
1664 | } |
1662 | 1665 | ||
1663 | 1666 |