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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
- | |
| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
- | |
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
- | |
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
- | |
| 30 | // + this list of conditions and the following disclaimer. |
- | |
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
- | |
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
- | |
| 34 | // + for non-commercial use (directly or indirectly) |
- | |
| 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
- | |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
- | |
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
- | |
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
- | |
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
- | |
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
- | |
| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
- | |
| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
- | |
| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
- | |
| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | - | ||
| 52 | #include <stdlib.h> |
1 | #include <stdlib.h> |
| 53 | #include <avr/io.h> |
2 | #include <avr/io.h> |
| 54 | #include "eeprom.h" |
3 | #include "eeprom.h" |
| 55 | #include "flight.h" |
4 | #include "flight.h" |
| 56 | #include "output.h" |
5 | #include "output.h" |
| 57 | #include "uart0.h" |
6 | #include "uart0.h" |
| 58 | 7 | ||
| 59 | // Necessary for external control and motor test |
8 | // Necessary for external control and motor test |
| 60 | #include "twimaster.h" |
9 | #include "twimaster.h" |
| 61 | #include "attitude.h" |
10 | #include "attitude.h" |
| 62 | #include "controlMixer.h" |
11 | #include "controlMixer.h" |
| 63 | #include "commands.h" |
12 | #include "commands.h" |
| 64 | #include "heightControl.h" |
13 | #include "heightControl.h" |
| 65 | 14 | ||
| 66 | #ifdef USE_MK3MAG |
15 | #ifdef USE_MK3MAG |
| 67 | #include "mk3mag.h" |
16 | #include "mk3mag.h" |
| 68 | #include "compassControl.h" |
17 | #include "compassControl.h" |
| 69 | #endif |
18 | #endif |
| 70 | 19 | ||
| 71 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
20 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
| 72 | 21 | ||
| 73 | /* |
22 | /* |
| 74 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
23 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
| 75 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
24 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
| 76 | */ |
25 | */ |
| 77 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
26 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
| 78 | - | ||
| 79 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
27 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
| 80 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
28 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
| 81 | uint8_t invKi = 64; |
29 | uint8_t invKi; |
| - | 30 | int32_t IPart[2]; |
|
| 82 | 31 | ||
| 83 | /************************************************************************/ |
32 | /************************************************************************/ |
| 84 | /* Filter for motor value smoothing (necessary???) */ |
33 | /* Filter for motor value smoothing (necessary???) */ |
| 85 | /************************************************************************/ |
34 | /************************************************************************/ |
| 86 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
35 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
| 87 | switch (staticParams.motorSmoothing) { |
36 | switch (staticParams.motorSmoothing) { |
| 88 | case 0: |
37 | case 0: |
| 89 | return newvalue; |
38 | return newvalue; |
| 90 | case 1: |
39 | case 1: |
| 91 | return (oldvalue + newvalue) / 2; |
40 | return (oldvalue + newvalue) / 2; |
| 92 | case 2: |
41 | case 2: |
| 93 | if (newvalue > oldvalue) |
42 | if (newvalue > oldvalue) |
| 94 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
43 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
| 95 | else |
44 | else |
| 96 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
45 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| 97 | case 3: |
46 | case 3: |
| 98 | if (newvalue < oldvalue) |
47 | if (newvalue < oldvalue) |
| 99 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
48 | return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
| 100 | else |
49 | else |
| 101 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
50 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| 102 | default: |
51 | default: |
| 103 | return newvalue; |
52 | return newvalue; |
| 104 | } |
53 | } |
| 105 | } |
54 | } |
| 106 | - | ||
| 107 | /************************************************************************/ |
- | |
| 108 | /* Neutral Readings */ |
- | |
| 109 | /************************************************************************/ |
- | |
| 110 | void flight_setNeutral() { |
- | |
| 111 | MKFlags |= MKFLAG_CALIBRATE; |
- | |
| 112 | // not really used here any more. |
- | |
| 113 | /* |
- | |
| 114 | dynamicParams.KalmanK = -1; |
- | |
| 115 | dynamicParams.KalmanMaxDrift = 0; |
- | |
| 116 | dynamicParams.KalmanMaxFusion = 32; |
- | |
| 117 | */ |
- | |
| 118 | controlMixer_initVariables(); |
- | |
| 119 | } |
- | |
| 120 | 55 | ||
| 121 | void setFlightParameters(uint8_t _invKi, uint8_t _gyroPFactor, |
56 | void flight_setParameters(uint8_t _invKi, uint8_t _gyroPFactor, |
| 122 | uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
57 | uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
| 123 | invKi = _invKi; |
58 | invKi = _invKi; |
| 124 | gyroPFactor = _gyroPFactor; |
59 | gyroPFactor = _gyroPFactor; |
| 125 | gyroIFactor = _gyroIFactor; |
60 | gyroIFactor = _gyroIFactor; |
| 126 | yawPFactor = _yawPFactor; |
61 | yawPFactor = _yawPFactor; |
| 127 | yawIFactor = _yawIFactor; |
62 | yawIFactor = _yawIFactor; |
| 128 | } |
63 | } |
| 129 | 64 | ||
| 130 | void setNormalFlightParameters(void) { |
65 | void flight_setGround() { |
| 131 | setFlightParameters( |
66 | // Just reset all I terms. |
| 132 | staticParams.IFactor, |
67 | IPart[PITCH] = IPart[ROLL] = 0; |
| 133 | dynamicParams.gyroP, |
- | |
| 134 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
- | |
| 135 | dynamicParams.gyroP, |
- | |
| 136 | staticParams.yawIFactor |
- | |
| 137 | ); |
68 | headingError = 0; |
| 138 | } |
69 | } |
| - | 70 | ||
| - | 71 | void flight_takeOff() { |
|
| 139 | 72 | HC_setGround(); |
|
| - | 73 | #ifdef USE_MK3MAG |
|
| - | 74 | attitude_resetHeadingToMagnetic(); |
|
| 140 | void setStableFlightParameters(void) { |
75 | compass_setTakeoffHeading(heading); |
| 141 | setFlightParameters(0, 90, 120, 90, 120); |
76 | #endif |
| 142 | } |
77 | } |
| 143 | 78 | ||
| 144 | /************************************************************************/ |
79 | /************************************************************************/ |
| 145 | /* Main Flight Control */ |
80 | /* Main Flight Control */ |
| 146 | /************************************************************************/ |
81 | /************************************************************************/ |
| 147 | void flight_control(void) { |
82 | void flight_control(void) { |
| 148 | uint16_t tmp_int; |
83 | int16_t tmp_int; |
| 149 | // Mixer Fractions that are combined for Motor Control |
84 | // Mixer Fractions that are combined for Motor Control |
| 150 | int16_t yawTerm, throttleTerm, term[2]; |
85 | int16_t yawTerm, throttleTerm, term[2]; |
| 151 | 86 | ||
| 152 | // PID controller variables |
87 | // PID controller variables |
| 153 | int16_t PDPart; |
88 | int16_t PDPart; |
| 154 | static int32_t IPart[2] = {0, 0}; |
- | |
| 155 | static uint16_t emergencyFlightTime; |
- | |
| 156 | static int8_t debugDataTimer = 1; |
89 | static int8_t debugDataTimer = 1; |
| 157 | 90 | ||
| 158 | // High resolution motor values for smoothing of PID motor outputs |
91 | // High resolution motor values for smoothing of PID motor outputs |
| 159 | static int16_t motorFilters[MAX_MOTORS]; |
92 | static int16_t motorFilters[MAX_MOTORS]; |
| 160 | 93 | ||
| 161 | uint8_t i, axis; |
94 | uint8_t i, axis; |
| 162 | 95 | ||
| 163 | throttleTerm = controls[CONTROL_THROTTLE]; |
96 | throttleTerm = controls[CONTROL_THROTTLE]; |
| - | 97 | ||
| - | 98 | if (throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
|
| - | 99 | // increment flight-time counter until overflow. |
|
| - | 100 | if (isFlying != 0xFFFF) |
|
| - | 101 | isFlying++; |
|
| - | 102 | } |
|
| - | 103 | /* |
|
| - | 104 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
|
| - | 105 | * Probably to avoid integration effects that will cause the copter to spin |
|
| - | 106 | * or flip when taking off. |
|
| - | 107 | */ |
|
| - | 108 | if (isFlying < 256) { |
|
| - | 109 | flight_setGround(); |
|
| - | 110 | if (isFlying == 250) |
|
| - | 111 | flight_takeOff(); |
|
| - | 112 | } |
|
| 164 | 113 | ||
| 165 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
114 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
| 166 | if (throttleTerm < staticParams.minThrottle + 10) |
115 | if (throttleTerm < staticParams.minThrottle + 10) |
| 167 | throttleTerm = staticParams.minThrottle + 10; |
116 | throttleTerm = staticParams.minThrottle + 10; |
| 168 | else if (throttleTerm > staticParams.maxThrottle - 20) |
117 | else if (throttleTerm > staticParams.maxThrottle - 20) |
| 169 | throttleTerm = (staticParams.maxThrottle - 20); |
118 | throttleTerm = (staticParams.maxThrottle - 20); |
| 170 | - | ||
| 171 | /************************************************************************/ |
- | |
| 172 | /* RC-signal is bad */ |
119 | |
| 173 | /* This part could be abstracted, as having yet another control input */ |
- | |
| 174 | /* to the control mixer: An emergency autopilot control. */ |
- | |
| 175 | /************************************************************************/ |
- | |
| 176 | - | ||
| 177 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
- | |
| 178 | if (controlMixer_didReceiveSignal) beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
- | |
| 179 | if (emergencyFlightTime) { |
- | |
| 180 | // continue emergency flight |
120 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
| 181 | emergencyFlightTime--; |
- | |
| 182 | if (isFlying > 256) { |
- | |
| 183 | // We're probably still flying. Descend slowly. |
- | |
| 184 | throttleTerm = staticParams.emergencyThrottle; // Set emergency throttle |
- | |
| 185 | MKFlags |= (MKFLAG_EMERGENCY_FLIGHT); // Set flag for emergency landing |
- | |
| 186 | setStableFlightParameters(); |
- | |
| 187 | } else { |
- | |
| 188 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
- | |
| 189 | } |
- | |
| 190 | } else { |
121 | throttleTerm *= CONTROL_SCALING; |
| 191 | // end emergency flight (just cut the motors???) |
- | |
| 192 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_FLIGHT); |
- | |
| 193 | } |
- | |
| 194 | } else { |
- | |
| 195 | // signal is acceptable |
- | |
| 196 | if (controlMixer_getSignalQuality() > SIGNAL_BAD) { |
- | |
| 197 | // Reset emergency landing control variables. |
- | |
| 198 | MKFlags &= ~(MKFLAG_EMERGENCY_FLIGHT); // clear flag for emergency landing |
- | |
| 199 | // The time is in whole seconds. |
- | |
| 200 | if (staticParams.emergencyFlightDuration > (65535-F_MAINLOOP)/F_MAINLOOP) |
- | |
| 201 | emergencyFlightTime = 0xffff; |
- | |
| 202 | else |
- | |
| 203 | emergencyFlightTime = (uint16_t)staticParams.emergencyFlightDuration * F_MAINLOOP; |
- | |
| 204 | } |
- | |
| 205 | - | ||
| 206 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
- | |
| 207 | if (throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
- | |
| 208 | // increment flight-time counter until overflow. |
- | |
| 209 | if (isFlying != 0xFFFF) |
- | |
| 210 | isFlying++; |
- | |
| 211 | } else |
- | |
| 212 | /* |
- | |
| 213 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
- | |
| 214 | * Probably to avoid integration effects that will cause the copter to spin |
- | |
| 215 | * or flip when taking off. |
- | |
| 216 | */ |
- | |
| 217 | if (isFlying < 256) { |
- | |
| 218 | IPart[PITCH] = IPart[ROLL] = 0; |
- | |
| 219 | if (isFlying == 250) { |
- | |
| 220 | HC_setGround(); |
- | |
| 221 | #ifdef USE_MK3MAG |
- | |
| 222 | attitude_resetHeadingToMagnetic(); |
- | |
| 223 | compass_setTakeoffHeading(heading); |
- | |
| 224 | #endif |
- | |
| 225 | // Set target heading to the one just gotten off compass. |
- | |
| 226 | // targetHeading = heading; |
- | |
| 227 | } |
- | |
| 228 | } else { |
- | |
| 229 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
- | |
| 230 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
- | |
| 231 | MKFlags |= (MKFLAG_FLY); |
- | |
| 232 | } |
- | |
| 233 | - | ||
| 234 | commands_handleCommands(); |
- | |
| 235 | setNormalFlightParameters(); |
- | |
| 236 | } // end else (not bad signal case) |
122 | // TODO: We dont need to repeat this for every iteration! |
| 237 | 123 | ||
| 238 | // end part 1: 750-800 usec. |
124 | // end part 1: 750-800 usec. |
| 239 | // start part 3: 350 - 400 usec. |
125 | // start part 3: 350 - 400 usec. |
| 240 | #define YAW_I_LIMIT (45L * GYRO_DEG_FACTOR_YAW) |
126 | #define YAW_I_LIMIT (45L * GYRO_DEG_FACTOR_YAW) |
| 241 | // This is where control affects the target heading. It also (later) directly controls yaw. |
127 | // This is where control affects the target heading. It also (later) directly controls yaw. |
| 242 | headingError -= controls[CONTROL_YAW]; |
128 | headingError -= controls[CONTROL_YAW]; |
| 243 | debugOut.analog[28] = headingError / 100; |
129 | if (headingError < -YAW_I_LIMIT) |
| - | 130 | headingError = -YAW_I_LIMIT; |
|
| 244 | if (headingError < -YAW_I_LIMIT) headingError = -YAW_I_LIMIT; |
131 | if (headingError > YAW_I_LIMIT) |
| 245 | if (headingError > YAW_I_LIMIT) headingError = YAW_I_LIMIT; |
132 | headingError = YAW_I_LIMIT; |
| 246 | 133 | ||
| 247 | PDPart = (int32_t)(headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4); |
134 | PDPart = (int32_t) (headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4); |
| 248 | // Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on. |
- | |
| 249 | PDPart += (int32_t)(yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5); |
135 | // Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on. |
| 250 | - | ||
| 251 | /* |
- | |
| 252 | * Compose throttle term. |
- | |
| 253 | * If a Bl-Ctrl is missing, prevent takeoff. |
- | |
| 254 | */ |
- | |
| 255 | if (missingMotor) { |
136 | PDPart += (int32_t) (yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5); |
| 256 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
- | |
| 257 | if (isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
- | |
| 258 | isFlying = 1; // keep within lift off condition |
- | |
| 259 | throttleTerm = staticParams.minThrottle; // reduce gas to min to avoid lift of |
- | |
| 260 | } |
- | |
| 261 | 137 | ||
| 262 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
138 | // Lets not limit P and D. |
| 263 | throttleTerm *= CONTROL_SCALING; |
139 | // CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
| 264 | 140 | ||
| 265 | /* |
141 | /* |
| 266 | * Compose yaw term. |
142 | * Compose yaw term. |
| 267 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
143 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
| 268 | * However, at low throttle the yaw term is limited to a fixed value, |
144 | * However, at low throttle the yaw term is limited to a fixed value, |
| 269 | * and at high throttle it is limited by the throttle reserve (the difference |
145 | * and at high throttle it is limited by the throttle reserve (the difference |
| 270 | * between current throttle and maximum throttle). |
146 | * between current throttle and maximum throttle). |
| 271 | */ |
147 | */ |
| 272 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
148 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
| 273 | yawTerm = PDPart - controls[CONTROL_YAW] * CONTROL_SCALING; |
149 | yawTerm = PDPart - controls[CONTROL_YAW] * CONTROL_SCALING; |
| 274 | // Limit yawTerm |
150 | // Limit yawTerm |
| 275 | debugOut.digital[0] &= ~DEBUG_CLIP; |
151 | debugOut.digital[0] &= ~DEBUG_CLIP; |
| 276 | if (throttleTerm > MIN_YAWGAS) { |
152 | if (throttleTerm > MIN_YAWGAS) { |
| 277 | if (yawTerm < -throttleTerm / 2) { |
153 | if (yawTerm < -throttleTerm / 2) { |
| 278 | debugOut.digital[0] |= DEBUG_CLIP; |
154 | debugOut.digital[0] |= DEBUG_CLIP; |
| 279 | yawTerm = -throttleTerm / 2; |
155 | yawTerm = -throttleTerm / 2; |
| 280 | } else if (yawTerm > throttleTerm / 2) { |
156 | } else if (yawTerm > throttleTerm / 2) { |
| 281 | debugOut.digital[0] |= DEBUG_CLIP; |
157 | debugOut.digital[0] |= DEBUG_CLIP; |
| 282 | yawTerm = throttleTerm / 2; |
158 | yawTerm = throttleTerm / 2; |
| 283 | } |
159 | } |
| 284 | } else { |
160 | } else { |
| 285 | if (yawTerm < -MIN_YAWGAS / 2) { |
161 | if (yawTerm < -MIN_YAWGAS / 2) { |
| 286 | debugOut.digital[0] |= DEBUG_CLIP; |
162 | debugOut.digital[0] |= DEBUG_CLIP; |
| 287 | yawTerm = -MIN_YAWGAS / 2; |
163 | yawTerm = -MIN_YAWGAS / 2; |
| 288 | } else if (yawTerm > MIN_YAWGAS / 2) { |
164 | } else if (yawTerm > MIN_YAWGAS / 2) { |
| 289 | debugOut.digital[0] |= DEBUG_CLIP; |
165 | debugOut.digital[0] |= DEBUG_CLIP; |
| 290 | yawTerm = MIN_YAWGAS / 2; |
166 | yawTerm = MIN_YAWGAS / 2; |
| 291 | } |
167 | } |
| 292 | } |
168 | } |
| 293 | 169 | ||
| 294 | tmp_int = staticParams.maxThrottle * CONTROL_SCALING; |
170 | tmp_int = staticParams.maxThrottle * CONTROL_SCALING; |
| - | 171 | ||
| 295 | if (yawTerm < -(tmp_int - throttleTerm)) { |
172 | if (yawTerm < -(tmp_int - throttleTerm)) { |
| 296 | yawTerm = -(tmp_int - throttleTerm); |
173 | yawTerm = -(tmp_int - throttleTerm); |
| 297 | debugOut.digital[0] |= DEBUG_CLIP; |
174 | debugOut.digital[0] |= DEBUG_CLIP; |
| 298 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
175 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
| 299 | yawTerm = (tmp_int - throttleTerm); |
176 | yawTerm = (tmp_int - throttleTerm); |
| 300 | debugOut.digital[0] |= DEBUG_CLIP; |
177 | debugOut.digital[0] |= DEBUG_CLIP; |
| 301 | } |
178 | } |
| 302 | 179 | ||
| 303 | debugOut.digital[1] &= ~DEBUG_CLIP; |
180 | debugOut.digital[1] &= ~DEBUG_CLIP; |
| 304 | 181 | ||
| - | 182 | tmp_int = ((uint16_t)dynamicParams.dynamicStability * ((uint16_t)throttleTerm + (abs(yawTerm) >> 1)) >> 6); |
|
| 305 | tmp_int = ((uint16_t)dynamicParams.dynamicStability * ((uint16_t)throttleTerm + abs(yawTerm) / 2)) >> 6; |
183 | //tmp_int = (int32_t) ((int32_t) dynamicParams.dynamicStability * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64; |
| 306 | 184 | ||
| 307 | /************************************************************************/ |
185 | /************************************************************************/ |
| 308 | /* Calculate control feedback from angle (gyro integral) */ |
186 | /* Calculate control feedback from angle (gyro integral) */ |
| 309 | /* and angular velocity (gyro signal) */ |
187 | /* and angular velocity (gyro signal) */ |
| 310 | /************************************************************************/ |
188 | /************************************************************************/ |
| 311 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
189 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
| 312 | for (axis = PITCH; axis <= ROLL; axis++) { |
190 | for (axis = PITCH; axis <= ROLL; axis++) { |
| 313 | int16_t iDiff; |
- | |
| 314 | iDiff = PDPart = attitude[axis] * gyroIFactor / (GYRO_DEG_FACTOR_PITCHROLL << 3); |
- | |
| 315 | PDPart += (int32_t)rate_PID[axis] * gyroPFactor / (GYRO_DEG_FACTOR_PITCHROLL >> 4); |
191 | PDPart = (int32_t) rate_PID[axis] * gyroPFactor / (GYRO_DEG_FACTOR_PITCHROLL >> 4); |
| 316 | PDPart += (differential[axis] * (int16_t) dynamicParams.gyroD) / 16; |
192 | PDPart += (differential[axis] * (int16_t) dynamicParams.gyroD) / 16; |
| 317 | // In acc. mode the I part is summed only from the attitude (IFaktor) angle minus stick. |
193 | // In acc. mode the I part is summed only from the attitude (IFaktor) angle minus stick. |
| 318 | // In HH mode, the I part is summed from P and D of gyros minus stick. |
194 | // In HH mode, the I part is summed from P and D of gyros minus stick. |
| 319 | if (gyroIFactor) { |
195 | if (gyroIFactor) { |
| - | 196 | int16_t iDiff = attitude[axis] * gyroIFactor / (GYRO_DEG_FACTOR_PITCHROLL << 3); |
|
| - | 197 | PDPart += iDiff; |
|
| 320 | IPart[axis] += iDiff - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
198 | IPart[axis] += iDiff - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| 321 | } else { |
199 | } else { |
| 322 | IPart[axis] += PDPart - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
200 | IPart[axis] += PDPart - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| 323 | } |
201 | } |
| 324 | 202 | ||
| 325 | // With normal Ki, limit effect to +/- 205 (of 1024!!!) |
203 | // With normal Ki, limit I parts to +/- 205 (of about 1024) |
| 326 | if (IPart[axis] < -64000) { |
204 | if (IPart[axis] < -64000) { |
| 327 | IPart[axis] = -64000; |
205 | IPart[axis] = -64000; |
| 328 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
206 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
| 329 | } else if (IPart[axis] > 64000) { |
207 | } else if (IPart[axis] > 64000) { |
| 330 | IPart[axis] = 64000; |
208 | IPart[axis] = 64000; |
| 331 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
209 | debugOut.digital[1] |= DEBUG_FLIGHTCLIP; |
| 332 | } |
210 | } |
| 333 | 211 | ||
| 334 | term[axis] = PDPart - controls[axis] + ((int32_t)IPart[axis] * invKi) >> 14; |
212 | term[axis] = PDPart - controls[axis] + (((int32_t) IPart[axis] * invKi) >> 14); |
| - | 213 | term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
|
| 335 | term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
214 | |
| 336 | /* |
215 | /* |
| 337 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
216 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
| 338 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
217 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
| 339 | * (max. pitch or roll term is the throttle value). |
218 | * (max. pitch or roll term is the throttle value). |
| 340 | * TODO: Why a growing function of yaw? |
219 | * TODO: Why a growing function of yaw? |
| 341 | */ |
220 | */ |
| 342 | if (term[axis] < -tmp_int) { |
221 | if (term[axis] < -tmp_int) { |
| 343 | debugOut.digital[1] |= DEBUG_CLIP; |
222 | debugOut.digital[1] |= DEBUG_CLIP; |
| - | 223 | term[axis] = -tmp_int; |
|
| 344 | } else if (term[axis] > tmp_int) { |
224 | } else if (term[axis] > tmp_int) { |
| 345 | debugOut.digital[1] |= DEBUG_CLIP; |
225 | debugOut.digital[1] |= DEBUG_CLIP; |
| - | 226 | term[axis] = tmp_int; |
|
| 346 | } |
227 | } |
| 347 | } |
228 | } |
| 348 | 229 | ||
| 349 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
230 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 350 | // Universal Mixer |
231 | // Universal Mixer |
| 351 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
232 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
| 352 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
233 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 234 | ||
| - | 235 | if (!(--debugDataTimer)) { |
|
| 353 | 236 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
|
| 354 | debugOut.analog[3] = rate_ATT[PITCH]; |
237 | debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
| 355 | debugOut.analog[4] = rate_ATT[ROLL]; |
238 | debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
| 356 | debugOut.analog[5] = yawRate; |
239 | debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
| 357 | 240 | ||
| 358 | debugOut.analog[6] = filteredAcc[PITCH]; |
241 | debugOut.analog[3] = rate_ATT[PITCH]; |
| 359 | debugOut.analog[7] = filteredAcc[ROLL]; |
242 | debugOut.analog[4] = rate_ATT[ROLL]; |
| - | 243 | debugOut.analog[5] = yawRate; |
|
| 360 | debugOut.analog[8] = filteredAcc[Z]; |
244 | } |
| 361 | 245 | ||
| 362 | debugOut.analog[13] = term[PITCH]; |
- | |
| 363 | debugOut.analog[14] = term[ROLL]; |
246 | debugOut.analog[8] = yawTerm; |
| - | 247 | debugOut.analog[9] = throttleTerm; |
|
| 364 | debugOut.analog[15] = yawTerm; |
248 | |
| 365 | debugOut.analog[16] = throttleTerm; |
249 | debugOut.analog[16] = gyroActivity; |
| 366 | 250 | ||
| 367 | for (i = 0; i < MAX_MOTORS; i++) { |
251 | for (i = 0; i < MAX_MOTORS; i++) { |
| 368 | int32_t tmp; |
252 | int32_t tmp; |
| 369 | uint8_t throttle; |
253 | uint8_t throttle; |
| 370 | 254 | ||
| 371 | tmp = (int32_t)throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
255 | tmp = (int32_t) throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
| 372 | tmp += (int32_t)term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
256 | tmp += (int32_t) term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
| 373 | tmp += (int32_t)term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
257 | tmp += (int32_t) term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
| 374 | tmp += (int32_t)yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
258 | tmp += (int32_t) yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
| 375 | tmp = tmp >> 6; |
259 | tmp = tmp >> 6; |
| 376 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
260 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| 377 | // Now we scale back down to a 0..255 range. |
261 | // Now we scale back down to a 0..255 range. |
| 378 | tmp = motorFilters[i] / MOTOR_SCALING; |
262 | tmp = motorFilters[i] / MOTOR_SCALING; |
| 379 | 263 | ||
| 380 | // So this was the THIRD time a throttle was limited. But should the limitation |
264 | // So this was the THIRD time a throttle was limited. But should the limitation |
| 381 | // apply to the common throttle signal (the one used for setting the "power" of |
265 | // apply to the common throttle signal (the one used for setting the "power" of |
| 382 | // all motors together) or should it limit the throttle set for each motor, |
266 | // all motors together) or should it limit the throttle set for each motor, |
| 383 | // including mix components of pitch, roll and yaw? I think only the common |
267 | // including mix components of pitch, roll and yaw? I think only the common |
| 384 | // throttle should be limited. |
268 | // throttle should be limited. |
| 385 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
269 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
| 386 | // Apply to individual signals instead. |
270 | // Apply to individual signals instead. |
| 387 | CHECK_MIN_MAX(tmp, 1, 255); |
271 | CHECK_MIN_MAX(tmp, 1, 255); |
| 388 | throttle = tmp; |
272 | throttle = tmp; |
| - | 273 | ||
| 389 | 274 | if (i < 4) |
|
| 390 | // if (i < 4) debugOut.analog[22 + i] = throttle; |
275 | debugOut.analog[10 + i] = throttle; |
| 391 | 276 | ||
| 392 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
277 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
| 393 | motor[i].throttle = throttle; |
278 | motor[i].throttle = throttle; |
| 394 | } else if (motorTestActive) { |
279 | } else if (motorTestActive) { |
| 395 | motor[i].throttle = motorTest[i]; |
280 | motor[i].throttle = motorTest[i]; |
| 396 | } else { |
281 | } else { |
| 397 | motor[i].throttle = 0; |
282 | motor[i].throttle = 0; |
| 398 | } |
283 | } |
| 399 | } |
284 | } |
| 400 | 285 | ||
| 401 | I2C_Start(TWI_STATE_MOTOR_TX); |
286 | I2C_Start(TWI_STATE_MOTOR_TX); |
| 402 | - | ||
| 403 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 404 | // Debugging |
- | |
| 405 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 406 | if (!(--debugDataTimer)) { |
- | |
| 407 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
- | |
| 408 | debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
- | |
| 409 | debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
- | |
| 410 | debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
- | |
| 411 | } |
- | |
| 412 | } |
287 | } |
| 413 | 288 | ||