WebSVN - FlightCtrl - Diff - Rev 2132 and 2135 - /branches/dongfang_FC


#include <stdlib.h>
#include <avr/io.h>
#include "eeprom.h"
#include "flight.h"
#include "output.h"
 
// Necessary for external control and motor test
#include "uart0.h"
#include "timer2.h"
#include "analog.h"
#include "attitude.h"
#include "controlMixer.h"
#include "configuration.h"
 
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
 
/*
 * target-directions integrals.
 */
int32_t target[3];
 
/*
 * Error integrals.
 */
 
 
uint8_t reverse[3];
int32_t maxError[3];
int32_t IPart[3] = { 0, 0, 0 };
PID_t airspeedPID[3];
 
int16_t controlServos[NUM_CONTROL_SERVOS];
 
/************************************************************************/
/*  Neutral Readings                                                    */
/************************************************************************/
#define CONTROL_CONFIG_SCALE 10
 
void flight_setGround(void) {
        IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0;
        target[PITCH] = attitude[PITCH];
        target[ROLL] = attitude[ROLL];
        target[YAW] = attitude[YAW];
}
 
void flight_updateFlightParametersToFlightMode(void) {
        debugOut.analog[16] = currentFlightMode;
       
        reverse[PITCH] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_ELEVATOR;
        reverse[ROLL] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_AILERONS;
        reverse[YAW] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_RUDDER;
 
        // At a switch to angles, we want to kill errors first.
        // This should be triggered only once per mode change!
        if (currentFlightMode == FLIGHT_MODE_ANGLES) {
                target[PITCH] = attitude[PITCH];
                target[ROLL] = attitude[ROLL];
                target[YAW] = attitude[YAW];
        }
 
        for (uint8_t axis=0; axis<3; axis++) {
                maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR;
        }
}
 
// Normal at airspeed = 10.
uint8_t calcAirspeedPID(uint8_t pid) {
        if (!(staticParams.bitConfig & CFG_USE_AIRSPEED_PID)) {
                return pid;
        }
 
        uint16_t result = (pid * 10) / airspeedVelocity;
 
        if (result > 240 || airspeedVelocity == 0) {
                result = 240;
        }
 
        return result;
}
 
void setAirspeedPIDs(void) {
        for (uint8_t axis = 0; axis<3; axis++) {
                airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P);
                airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be???
                airspeedPID[axis].D = dynamicParams.gyroPID[axis].D;
        }
}
 
#define LOG_STICK_SCALE 8
#define LOG_P_SCALE 6
#define LOG_I_SCALE 10
#define LOG_D_SCALE 6
 
/************************************************************************/
/*  Main Flight Control                                                 */
/************************************************************************/
void flight_control(void) {
        // Mixer Fractions that are combined for Motor Control
        int16_t term[4];
 
        // PID controller variables
        int16_t PDPart[3];
 
        static int8_t debugDataTimer = 1;
 
        // High resolution motor values for smoothing of PID motor outputs
        // static int16_t outputFilters[MAX_OUTPUTS];
 
        uint8_t axis;
 
        setAirspeedPIDs();
 
        term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE];
 
        // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway.
        int32_t tmp;
 
        tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE;
        if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp;
 
        tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE;
        if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp;
 
        tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE;
        if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp;
 
        for (axis = PITCH; axis <= YAW; axis++) {
                if (target[axis] > OVER180) {
                        target[axis] -= OVER360;
                } else if (target[axis] <= -OVER180) {
                        target[axis] += OVER360;
                }
 
                int32_t error = attitude[axis] - target[axis];
 
#define ROTATETARGET 1
// #define TRUNCATEERROR 1
 
#ifdef ROTATETARGET
        //if(abs(error) > OVER180) { // doesnt work!!!
        if(error > OVER180 || error < -OVER180) {
                  // The shortest way from attitude to target crosses -180.
                  // Well there are 2 possibilities: A is >0 and T is < 0, that makes E a (too) large positive number. It should be wrapped to negative.
                  // Or A is <0 and T is >0, that makes E a (too) large negative number. It should be wrapped to positive.
                  if (error > 0) {
                    if (error < OVER360 - maxError[axis]) {
                      // too much err.
                      error = -maxError[axis];
                      target[axis] = attitude[axis] + maxError[axis];
                      if (target[axis] > OVER180) target[axis] -= OVER360;
                    } else {
                      // Normal case, we just need to correct for the wrap. Error will be negative.
                      error -= OVER360;
                    }
                  } else {
            if (error > maxError[axis] - OVER360) {
              // too much err.
              error = maxError[axis];
              target[axis] = attitude[axis] - maxError[axis];
              if (target[axis] < -OVER180) target[axis] += OVER360;
            } else {
              // Normal case, we just need to correct for the wrap. Error will be negative.
              error += OVER360;
            }
                  }
                } else {
                  // Simple case, linear range.
                if (error > maxError[axis]) {
                  error = maxError[axis];
                  target[axis] = attitude[axis] - maxError[axis];
                } else if (error < -maxError[axis]) {
              error = -maxError[axis];
              target[axis] = attitude[axis] + maxError[axis];
            }
                }
#endif
#ifdef TUNCATEERROR
                if (error > maxError[axis]) {
                  error = maxError[axis];
                } else if (error < -maxError[axis]) {
                  error = -maxError[axis];
                } else {
                        // update I parts here for angles mode. I parts in rate mode is something different.
                }
#endif
 
        debugOut.analog[9+axis] = error / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
 
                /************************************************************************/
                /* Calculate control feedback from angle (gyro integral)                */
                /* and angular velocity (gyro signal)                                   */
                /************************************************************************/
                if (currentFlightMode == FLIGHT_MODE_ANGLES || currentFlightMode == FLIGHT_MODE_RATE) {
                        PDPart[axis] = +(((int32_t) gyro_PID[axis] * (int32_t) airspeedPID[axis].P) >> LOG_P_SCALE)
                                + (((int16_t)gyroD[axis] * (int16_t) airspeedPID[axis].D) >> LOG_D_SCALE);
                        //if (reverse[axis])
                        //      PDPart[axis] = -PDPart[axis];
                } else {
                        PDPart[axis] = 0;
                }
 
                if (currentFlightMode == FLIGHT_MODE_ANGLES) {
                        int16_t anglePart = (int32_t)(error * (int32_t) airspeedPID[axis].I) >> LOG_I_SCALE;
                        PDPart[axis] += anglePart;
                }
 
                // Add I parts here... these are integrated errors.
                if (reverse[axis])
                  term[axis] = controls[axis] - PDPart[axis]; // + IPart[axis];
                else
                  term[axis] = controls[axis] + PDPart[axis]; // + IPart[axis];
        }
 
        debugOut.analog[12] = term[PITCH];
        debugOut.analog[13] = term[ROLL];
        debugOut.analog[14] = term[YAW];
        debugOut.analog[15] = term[THROTTLE];
 
        for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) {
                int16_t tmp;
                if (servoTestActive) {
                        controlServos[i] = ((int16_t) servoTest[i] - 128) * 8;
                } else {
                        // Follow the normal order of servos: Ailerons, elevator, throttle, rudder.
                        switch (i) {
                        case 0:
                                tmp = term[ROLL];
                                break;
                        case 1:
                                tmp = term[PITCH];
                                break;
                        case 2:
                                tmp = term[THROTTLE];
                                break;
                        case 3:
                                tmp = term[YAW];
                                break;
                        default:
                                tmp = 0;
                        }
                        // These are all signed and in the same units as the RC stuff in rc.c.
                        controlServos[i] = tmp;
                }
        }
 
        calculateControlServoValues();
 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Debugging
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        if (!(--debugDataTimer)) {
                debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz.
                debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg
                debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg
                debugOut.analog[2] = gyro_PID[YAW];
 
                debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
                debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
                debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10);
 
                debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
                debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
                debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10);
 
 
 
 
 
                debugOut.analog[12] = term[PITCH];
                debugOut.analog[13] = term[ROLL];
                debugOut.analog[14] = term[YAW];
 
                //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
                //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
                //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg
                //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg
        }
}
 

Rev 2132	Rev 2135
1	#include <stdlib.h>	1	#include <stdlib.h>
2	#include <avr/io.h>	2	#include <avr/io.h>
3	#include "eeprom.h"	3	#include "eeprom.h"
4	#include "flight.h"	4	#include "flight.h"
5	#include "output.h"	5	#include "output.h"
6		6
7	// Necessary for external control and motor test	7	// Necessary for external control and motor test
8	#include "uart0.h"	8	#include "uart0.h"
9	#include "timer2.h"	9	#include "timer2.h"
10	#include "analog.h"	10	#include "analog.h"
11	#include "attitude.h"	11	#include "attitude.h"
12	#include "controlMixer.h"	12	#include "controlMixer.h"
13	#include "configuration.h"	13	#include "configuration.h"
14		14
15	#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}	15	#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
16		16
17	/*	17	/*
18	* target-directions integrals.	18	* target-directions integrals.
19	*/	19	*/
20	int32_t target[3];	20	int32_t target[3];
21		21
22	/*	22	/*
23	* Error integrals.	23	* Error integrals.
24	*/	24	*/
25	int32_t error[3];	-
26		25
27	uint8_t reverse[3];	26	uint8_t reverse[3];
28	int32_t maxError[3];	27	int32_t maxError[3];
29	int32_t IPart[3] = { 0, 0, 0 };	28	int32_t IPart[3] = { 0, 0, 0 };
30	PID_t airspeedPID[3];	29	PID_t airspeedPID[3];
31		30
32	int16_t controlServos[NUM_CONTROL_SERVOS];	31	int16_t controlServos[NUM_CONTROL_SERVOS];
33		32
34	/************************************************************************/	33	/************************************************************************/
35	/* Neutral Readings */	34	/* Neutral Readings */
36	/************************************************************************/	35	/************************************************************************/
37	#define CONTROL_CONFIG_SCALE 10	36	#define CONTROL_CONFIG_SCALE 10
38		37
39	void flight_setGround(void) {	38	void flight_setGround(void) {
40	IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0;	39	IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0;
41	target[PITCH] = attitude[PITCH];	40	target[PITCH] = attitude[PITCH];
42	target[ROLL] = attitude[ROLL];	41	target[ROLL] = attitude[ROLL];
43	target[YAW] = attitude[YAW];	42	target[YAW] = attitude[YAW];
44	}	43	}
45		44
46	void flight_updateFlightParametersToFlightMode(void) {	45	void flight_updateFlightParametersToFlightMode(void) {
47	debugOut.analog[16] = currentFlightMode;	46	debugOut.analog[16] = currentFlightMode;
-		47
48	reverse[PITCH] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_ELEVATOR;	48	reverse[PITCH] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_ELEVATOR;
49	reverse[ROLL] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_AILERONS;	49	reverse[ROLL] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_AILERONS;
50	reverse[YAW] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_RUDDER;	50	reverse[YAW] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_RUDDER;
51		51
52	// At a switch to angles, we want to kill errors first.	52	// At a switch to angles, we want to kill errors first.
53	// This should be triggered only once per mode change!	53	// This should be triggered only once per mode change!
54	if (currentFlightMode == FLIGHT_MODE_ANGLES) {	54	if (currentFlightMode == FLIGHT_MODE_ANGLES) {
55	target[PITCH] = attitude[PITCH];	55	target[PITCH] = attitude[PITCH];
56	target[ROLL] = attitude[ROLL];	56	target[ROLL] = attitude[ROLL];
57	target[YAW] = attitude[YAW];	57	target[YAW] = attitude[YAW];
58	}	58	}
59		59
60	for (uint8_t axis=0; axis<3; axis++) {	60	for (uint8_t axis=0; axis<3; axis++) {
61	maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR;	61	maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR;
62	}	62	}
63	}	63	}
64		64
65	// Normal at airspeed = 10.	65	// Normal at airspeed = 10.
66	uint8_t calcAirspeedPID(uint8_t pid) {	66	uint8_t calcAirspeedPID(uint8_t pid) {
67	if (!(staticParams.bitConfig & CFG_USE_AIRSPEED_PID)) {	67	if (!(staticParams.bitConfig & CFG_USE_AIRSPEED_PID)) {
68	return pid;	68	return pid;
69	}	69	}
70		70
71	uint16_t result = (pid * 10) / airspeedVelocity;	71	uint16_t result = (pid * 10) / airspeedVelocity;
72		72
73	if (result > 240 \|\| airspeedVelocity == 0) {	73	if (result > 240 \|\| airspeedVelocity == 0) {
74	result = 240;	74	result = 240;
75	}	75	}
76		76
77	return result;	77	return result;
78	}	78	}
79		79
80	void setAirspeedPIDs(void) {	80	void setAirspeedPIDs(void) {
81	for (uint8_t axis = 0; axis<3; axis++) {	81	for (uint8_t axis = 0; axis<3; axis++) {
82	airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P);	82	airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P);
83	airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be???	83	airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be???
84	airspeedPID[axis].D = dynamicParams.gyroPID[axis].D;	84	airspeedPID[axis].D = dynamicParams.gyroPID[axis].D;
85	}	85	}
86	}	86	}
87		87
88	#define LOG_STICK_SCALE 8	88	#define LOG_STICK_SCALE 8
89	#define LOG_P_SCALE 6	89	#define LOG_P_SCALE 6
90	#define LOG_I_SCALE 10	90	#define LOG_I_SCALE 10
91	#define LOG_D_SCALE 6	91	#define LOG_D_SCALE 6
92		92
93	/************************************************************************/	93	/************************************************************************/
94	/* Main Flight Control */	94	/* Main Flight Control */
95	/************************************************************************/	95	/************************************************************************/
96	void flight_control(void) {	96	void flight_control(void) {
97	// Mixer Fractions that are combined for Motor Control	97	// Mixer Fractions that are combined for Motor Control
98	int16_t term[4];	98	int16_t term[4];
99		99
100	// PID controller variables	100	// PID controller variables
101	int16_t PDPart[3];	101	int16_t PDPart[3];
102		102
103	static int8_t debugDataTimer = 1;	103	static int8_t debugDataTimer = 1;
104		104
105	// High resolution motor values for smoothing of PID motor outputs	105	// High resolution motor values for smoothing of PID motor outputs
106	// static int16_t outputFilters[MAX_OUTPUTS];	106	// static int16_t outputFilters[MAX_OUTPUTS];
107		107
108	uint8_t axis;	108	uint8_t axis;
109		109
110	setAirspeedPIDs();	110	setAirspeedPIDs();
111		111
112	term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE];	112	term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE];
113		113
114	// These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway.	114	// These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway.
115	int32_t tmp;	115	int32_t tmp;
116		116
117	tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE;	117	tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE;
118	if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp;	118	if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp;
119		119
120	tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE;	120	tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE;
121	if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp;	121	if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp;
122		122
123	tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE;	123	tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE;
124	if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp;	124	if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp;
125		125
126	for (axis = PITCH; axis <= YAW; axis++) {	126	for (axis = PITCH; axis <= YAW; axis++) {
127	if (target[axis] > OVER180) {	127	if (target[axis] > OVER180) {
128	target[axis] -= OVER360;	128	target[axis] -= OVER360;
129	} else if (target[axis] <= -OVER180) {	129	} else if (target[axis] <= -OVER180) {
130	target[axis] += OVER360;	130	target[axis] += OVER360;
131	}	131	}
132		132
133	error[axis] = attitude[axis] - target[axis];	133	int32_t error = attitude[axis] - target[axis];
134		134
135	#define ROTATETARGET 1	135	#define ROTATETARGET 1
136	// #define TRUNCATEERROR 1	136	// #define TRUNCATEERROR 1
137		137
138	#ifdef ROTATETARGET	138	#ifdef ROTATETARGET
-		139	//if(abs(error) > OVER180) { // doesnt work!!!
139	if(abs(error[axis]) > OVER180) {	140	if(error > OVER180 \|\| error < -OVER180) {
140	// The shortest way from attitude to target crosses -180.	141	// The shortest way from attitude to target crosses -180.
141	// Well there are 2 possibilities: A is >0 and T is < 0, that makes E a (too) large positive number. It should be wrapped to negative.	142	// Well there are 2 possibilities: A is >0 and T is < 0, that makes E a (too) large positive number. It should be wrapped to negative.
142	// Or A is <0 and T is >0, that makes E a (too) large negative number. It should be wrapped to positive.	143	// Or A is <0 and T is >0, that makes E a (too) large negative number. It should be wrapped to positive.
143	if (error[axis] > 0) {	144	if (error > 0) {
144	if (error[axis] < OVER360 - maxError[axis]) {	145	if (error < OVER360 - maxError[axis]) {
145	// too much err.	146	// too much err.
146	error[axis] = -maxError[axis];	147	error = -maxError[axis];
147	target[axis] = attitude[axis] + maxError[axis];	148	target[axis] = attitude[axis] + maxError[axis];
148	if (target[axis] > OVER180) target[axis] -= OVER360;	149	if (target[axis] > OVER180) target[axis] -= OVER360;
149	} else {	150	} else {
150	// Normal case, we just need to correct for the wrap. Error will be negative.	151	// Normal case, we just need to correct for the wrap. Error will be negative.
151	error[axis] -= OVER360;	152	error -= OVER360;
152	}	153	}
153	} else {	154	} else {
154	if (error[axis] > maxError[axis] - OVER360) {	155	if (error > maxError[axis] - OVER360) {
155	// too much err.	156	// too much err.
156	error[axis] = maxError[axis];	157	error = maxError[axis];
157	target[axis] = attitude[axis] - maxError[axis];	158	target[axis] = attitude[axis] - maxError[axis];
158	if (target[axis] < -OVER180) target[axis] += OVER360;	159	if (target[axis] < -OVER180) target[axis] += OVER360;
159	} else {	160	} else {
160	// Normal case, we just need to correct for the wrap. Error will be negative.	161	// Normal case, we just need to correct for the wrap. Error will be negative.
161	error[axis] += OVER360;	162	error += OVER360;
162	}	163	}
163	}	164	}
164	} else {	165	} else {
165	// Simple case, linear range.	166	// Simple case, linear range.
166	if (error[axis] > maxError[axis]) {	167	if (error > maxError[axis]) {
167	error[axis] = maxError[axis];	168	error = maxError[axis];
168	target[axis] = attitude[axis] - maxError[axis];	169	target[axis] = attitude[axis] - maxError[axis];
169	} else if (error[axis] < -maxError[axis]) {	170	} else if (error < -maxError[axis]) {
170	error[axis] = -maxError[axis];	171	error = -maxError[axis];
171	target[axis] = attitude[axis] + maxError[axis];	172	target[axis] = attitude[axis] + maxError[axis];
172	}	173	}
173	}	174	}
174	#endif	175	#endif
175	#ifdef TUNCATEERROR	176	#ifdef TUNCATEERROR
176	if (error[axis] > maxError[axis]) {	177	if (error > maxError[axis]) {
177	error[axis] = maxError[axis];	178	error = maxError[axis];
178	} else if (error[axis] < -maxError[axis]) {	179	} else if (error < -maxError[axis]) {
179	error[axis] = -maxError[axis];	180	error = -maxError[axis];
180	} else {	181	} else {
181	// update I parts here for angles mode. I parts in rate mode is something different.	182	// update I parts here for angles mode. I parts in rate mode is something different.
182	}	183	}
183	#endif	184	#endif
-		185
-		186	debugOut.analog[9+axis] = error / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
184		187
185	/************************************************************************/	188	/************************************************************************/
186	/* Calculate control feedback from angle (gyro integral) */	189	/* Calculate control feedback from angle (gyro integral) */
187	/* and angular velocity (gyro signal) */	190	/* and angular velocity (gyro signal) */
188	/************************************************************************/	191	/************************************************************************/
189	if (currentFlightMode == FLIGHT_MODE_ANGLES \|\| currentFlightMode == FLIGHT_MODE_RATE) {	192	if (currentFlightMode == FLIGHT_MODE_ANGLES \|\| currentFlightMode == FLIGHT_MODE_RATE) {
190	PDPart[axis] = +(((int32_t) gyro_PID[axis] * (int32_t) airspeedPID[axis].P) >> LOG_P_SCALE)	193	PDPart[axis] = +(((int32_t) gyro_PID[axis] * (int32_t) airspeedPID[axis].P) >> LOG_P_SCALE)
191	+ (((int16_t)gyroD[axis] * (int16_t) airspeedPID[axis].D) >> LOG_D_SCALE);	194	+ (((int16_t)gyroD[axis] * (int16_t) airspeedPID[axis].D) >> LOG_D_SCALE);
192	//if (reverse[axis])	195	//if (reverse[axis])
193	// PDPart[axis] = -PDPart[axis];	196	// PDPart[axis] = -PDPart[axis];
194	} else {	197	} else {
195	PDPart[axis] = 0;	198	PDPart[axis] = 0;
196	}	199	}
197		200
198	if (currentFlightMode == FLIGHT_MODE_ANGLES) {	201	if (currentFlightMode == FLIGHT_MODE_ANGLES) {
199	int16_t anglePart = (int32_t)(error[axis] * (int32_t) airspeedPID[axis].I) >> LOG_I_SCALE;	202	int16_t anglePart = (int32_t)(error * (int32_t) airspeedPID[axis].I) >> LOG_I_SCALE;
200	PDPart[axis] += anglePart;	203	PDPart[axis] += anglePart;
201	}	204	}
202		205
203	// Add I parts here... these are integrated errors.	206	// Add I parts here... these are integrated errors.
204	if (reverse[axis])	207	if (reverse[axis])
205	term[axis] = controls[axis] - PDPart[axis]; // + IPart[axis];	208	term[axis] = controls[axis] - PDPart[axis]; // + IPart[axis];
206	else	209	else
207	term[axis] = controls[axis] + PDPart[axis]; // + IPart[axis];	210	term[axis] = controls[axis] + PDPart[axis]; // + IPart[axis];
208	}	211	}
209		212
210	debugOut.analog[12] = term[PITCH];	213	debugOut.analog[12] = term[PITCH];
211	debugOut.analog[13] = term[ROLL];	214	debugOut.analog[13] = term[ROLL];
212	debugOut.analog[14] = term[YAW];	215	debugOut.analog[14] = term[YAW];
213	debugOut.analog[15] = term[THROTTLE];	216	debugOut.analog[15] = term[THROTTLE];
214		217
215	for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) {	218	for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) {
216	int16_t tmp;	219	int16_t tmp;
217	if (servoTestActive) {	220	if (servoTestActive) {
218	controlServos[i] = ((int16_t) servoTest[i] - 128) * 8;	221	controlServos[i] = ((int16_t) servoTest[i] - 128) * 8;
219	} else {	222	} else {
220	// Follow the normal order of servos: Ailerons, elevator, throttle, rudder.	223	// Follow the normal order of servos: Ailerons, elevator, throttle, rudder.
221	switch (i) {	224	switch (i) {
222	case 0:	225	case 0:
223	tmp = term[ROLL];	226	tmp = term[ROLL];
224	break;	227	break;
225	case 1:	228	case 1:
226	tmp = term[PITCH];	229	tmp = term[PITCH];
227	break;	230	break;
228	case 2:	231	case 2:
229	tmp = term[THROTTLE];	232	tmp = term[THROTTLE];
230	break;	233	break;
231	case 3:	234	case 3:
232	tmp = term[YAW];	235	tmp = term[YAW];
233	break;	236	break;
234	default:	237	default:
235	tmp = 0;	238	tmp = 0;
236	}	239	}
237	// These are all signed and in the same units as the RC stuff in rc.c.	240	// These are all signed and in the same units as the RC stuff in rc.c.
238	controlServos[i] = tmp;	241	controlServos[i] = tmp;
239	}	242	}
240	}	243	}
241		244
242	calculateControlServoValues();	245	calculateControlServoValues();
243		246
244	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	247	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
245	// Debugging	248	// Debugging
246	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	249	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
247	if (!(--debugDataTimer)) {	250	if (!(--debugDataTimer)) {
248	debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz.	251	debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz.
249	debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg	252	debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg
250	debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg	253	debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg
251	debugOut.analog[2] = gyro_PID[YAW];	254	debugOut.analog[2] = gyro_PID[YAW];
252		255
253	debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg	256	debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
254	debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg	257	debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
255	debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10);	258	debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10);
256		259
257	debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg	260	debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
258	debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg	261	debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
259	debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10);	262	debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10);
260		-
261	debugOut.analog[9] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg	-
262	debugOut.analog[10] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg	-
263	debugOut.analog[11] = error[YAW] / (GYRO_DEG_FACTOR / 10);	-
264		263
265	debugOut.analog[12] = term[PITCH];	264	debugOut.analog[12] = term[PITCH];
266	debugOut.analog[13] = term[ROLL];	265	debugOut.analog[13] = term[ROLL];
267	debugOut.analog[14] = term[YAW];	266	debugOut.analog[14] = term[YAW];
268		267
269	//DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg	268	//DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
270	//DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg	269	//DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
271	//debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg	270	//debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg
272	//debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg	271	//debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg
273	}	272	}
274	}	273	}
275		274

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/flight.c @ 2122 - Rev 2132 → 2135