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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
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 |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
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 |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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 |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 52 | ||
53 | #include <stdlib.h> |
53 | #include <stdlib.h> |
54 | #include <avr/io.h> |
54 | #include <avr/io.h> |
55 | #include "eeprom.h" |
55 | #include "eeprom.h" |
56 | #include "flight.h" |
56 | #include "flight.h" |
57 | 57 | ||
58 | // Only for debug. Remove. |
58 | // Only for debug. Remove. |
59 | //#include "analog.h" |
59 | //#include "analog.h" |
60 | //#include "rc.h" |
60 | //#include "rc.h" |
61 | 61 | ||
62 | // Necessary for external control and motor test |
62 | // Necessary for external control and motor test |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | 64 | ||
65 | // for scope debugging |
65 | // for scope debugging |
66 | // #include "rc.h" |
66 | // #include "rc.h" |
67 | 67 | ||
68 | #include "twimaster.h" |
68 | #include "twimaster.h" |
69 | #include "attitude.h" |
69 | #include "attitude.h" |
70 | #include "controlMixer.h" |
70 | #include "controlMixer.h" |
71 | #include "commands.h" |
71 | #include "commands.h" |
72 | #ifdef USE_MK3MAG |
72 | #ifdef USE_MK3MAG |
73 | #include "gps.h" |
73 | #include "gps.h" |
74 | #endif |
74 | #endif |
75 | 75 | ||
76 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
76 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
77 | 77 | ||
78 | /* |
78 | /* |
79 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
79 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
80 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
80 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
81 | */ |
81 | */ |
82 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
82 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
83 | 83 | ||
84 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
84 | uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
85 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
85 | uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
86 | 86 | ||
87 | // Some integral weight constant... |
87 | // Some integral weight constant... |
88 | uint16_t Ki = 10300 / 33; |
88 | uint16_t Ki = 10300 / 33; |
89 | uint8_t RequiredMotors = 0; |
89 | uint8_t RequiredMotors = 0; |
90 | 90 | ||
91 | // No support for altitude control right now. |
91 | // No support for altitude control right now. |
92 | // int16_t SetPointHeight = 0; |
92 | // int16_t SetPointHeight = 0; |
93 | 93 | ||
94 | /************************************************************************/ |
94 | /************************************************************************/ |
95 | /* Filter for motor value smoothing (necessary???) */ |
95 | /* Filter for motor value smoothing (necessary???) */ |
96 | /************************************************************************/ |
96 | /************************************************************************/ |
97 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
97 | int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
98 | switch(dynamicParams.UserParams[5]) { |
98 | switch(dynamicParams.UserParams[5]) { |
99 | case 0: |
99 | case 0: |
100 | return newvalue; |
100 | return newvalue; |
101 | case 1: |
101 | case 1: |
102 | return (oldvalue + newvalue) / 2; |
102 | return (oldvalue + newvalue) / 2; |
103 | case 2: |
103 | case 2: |
104 | if(newvalue > oldvalue) |
104 | if(newvalue > oldvalue) |
105 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
105 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
106 | else |
106 | else |
107 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
107 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
108 | case 3: |
108 | case 3: |
109 | if(newvalue < oldvalue) |
109 | if(newvalue < oldvalue) |
110 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
110 | return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
111 | else |
111 | else |
112 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
112 | return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
113 | default: return newvalue; |
113 | default: return newvalue; |
114 | } |
114 | } |
115 | } |
115 | } |
116 | 116 | ||
117 | /************************************************************************/ |
117 | /************************************************************************/ |
118 | /* Neutral Readings */ |
118 | /* Neutral Readings */ |
119 | /************************************************************************/ |
119 | /************************************************************************/ |
120 | void flight_setNeutral() { |
120 | void flight_setNeutral() { |
121 | MKFlags |= MKFLAG_CALIBRATE; |
121 | MKFlags |= MKFLAG_CALIBRATE; |
122 | 122 | ||
123 | // not really used here any more. |
123 | // not really used here any more. |
124 | dynamicParams.KalmanK = -1; |
124 | dynamicParams.KalmanK = -1; |
125 | dynamicParams.KalmanMaxDrift = 0; |
125 | dynamicParams.KalmanMaxDrift = 0; |
126 | dynamicParams.KalmanMaxFusion = 32; |
126 | dynamicParams.KalmanMaxFusion = 32; |
127 | 127 | ||
128 | controlMixer_initVariables(); |
128 | controlMixer_initVariables(); |
129 | } |
129 | } |
130 | 130 | ||
131 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
131 | void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
132 | Ki = 10300 / _Ki; |
132 | Ki = 10300 / _Ki; |
133 | gyroPFactor = _gyroPFactor; |
133 | gyroPFactor = _gyroPFactor; |
134 | gyroIFactor = _gyroIFactor; |
134 | gyroIFactor = _gyroIFactor; |
135 | yawPFactor = _yawPFactor; |
135 | yawPFactor = _yawPFactor; |
136 | yawIFactor = _yawIFactor; |
136 | yawIFactor = _yawIFactor; |
137 | } |
137 | } |
138 | 138 | ||
139 | void setNormalFlightParameters(void) { |
139 | void setNormalFlightParameters(void) { |
140 | setFlightParameters(dynamicParams.IFactor + 1, |
140 | setFlightParameters(dynamicParams.IFactor + 1, |
141 | dynamicParams.GyroP + 10, |
141 | dynamicParams.GyroP + 10, |
142 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
142 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
143 | dynamicParams.GyroP + 10, |
143 | dynamicParams.GyroP + 10, |
144 | dynamicParams.UserParams[6] |
144 | dynamicParams.UserParams[6] |
145 | ); |
145 | ); |
146 | } |
146 | } |
147 | 147 | ||
148 | void setStableFlightParameters(void) { |
148 | void setStableFlightParameters(void) { |
149 | setFlightParameters(33, 90, 120, 90, 120); |
149 | setFlightParameters(33, 90, 120, 90, 120); |
150 | } |
150 | } |
151 | 151 | ||
152 | 152 | ||
153 | /************************************************************************/ |
153 | /************************************************************************/ |
154 | /* Main Flight Control */ |
154 | /* Main Flight Control */ |
155 | /************************************************************************/ |
155 | /************************************************************************/ |
156 | void flight_control(void) { |
156 | void flight_control(void) { |
157 | int16_t tmp_int; |
157 | int16_t tmp_int; |
158 | // Mixer Fractions that are combined for Motor Control |
158 | // Mixer Fractions that are combined for Motor Control |
159 | int16_t yawTerm, throttleTerm, term[2]; |
159 | int16_t yawTerm, throttleTerm, term[2]; |
160 | 160 | ||
161 | // PID controller variables |
161 | // PID controller variables |
162 | int16_t PDPart[2], PDPartYaw, PPart[2]; |
162 | int16_t PDPart[2], PDPartYaw, PPart[2]; |
163 | static int32_t IPart[2] = {0,0}; |
163 | static int32_t IPart[2] = {0,0}; |
164 | // static int32_t yawControlRate = 0; |
164 | // static int32_t yawControlRate = 0; |
165 | 165 | ||
166 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
166 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
167 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
167 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
168 | // static int32_t CorrectionPitch, CorrectionRoll; |
168 | // static int32_t CorrectionPitch, CorrectionRoll; |
169 | 169 | ||
170 | static uint16_t emergencyFlightTime; |
170 | static uint16_t emergencyFlightTime; |
171 | static int8_t debugDataTimer = 1; |
171 | static int8_t debugDataTimer = 1; |
172 | 172 | ||
173 | // High resolution motor values for smoothing of PID motor outputs |
173 | // High resolution motor values for smoothing of PID motor outputs |
174 | static int16_t motorFilters[MAX_MOTORS]; |
174 | static int16_t motorFilters[MAX_MOTORS]; |
175 | 175 | ||
176 | uint8_t i, axis; |
176 | uint8_t i, axis; |
177 | 177 | ||
- | 178 | controlMixer_update(); |
|
178 | // Fire the main flight attitude calculation, including integration of angles. |
179 | |
179 | - | ||
180 | calculateFlightAttitude(); |
- | |
181 | - | ||
182 | /* |
- | |
183 | * TODO: update should: Set the stick variables if good signal, set them to zero if bad. |
- | |
184 | * Set variables also. |
- | |
185 | */ |
- | |
186 | // start part 1: 750-800 usec. |
- | |
187 | // start part 1a: 750-800 usec. |
- | |
188 | // start part1b: 700 usec |
- | |
189 | // start part1c: 700 usec!!!!!!!!! WAY too slow. |
- | |
190 | controlMixer_update(); |
180 | // Fire the main flight attitude calculation, including integration of angles. |
191 | // end part1c |
181 | calculateFlightAttitude(); |
192 | 182 | ||
193 | throttleTerm = controlThrottle; |
183 | throttleTerm = controlThrottle; |
194 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
184 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
195 | // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
185 | // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
196 | // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
186 | // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
197 | - | ||
198 | // end part1b: 700 usec. |
187 | |
199 | /************************************************************************/ |
188 | /************************************************************************/ |
200 | /* RC-signal is bad */ |
189 | /* RC-signal is bad */ |
201 | /* This part could be abstracted, as having yet another control input */ |
190 | /* This part could be abstracted, as having yet another control input */ |
202 | /* to the control mixer: An emergency autopilot control. */ |
191 | /* to the control mixer: An emergency autopilot control. */ |
203 | /************************************************************************/ |
192 | /************************************************************************/ |
204 | 193 | ||
205 | if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
194 | if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
206 | RED_ON; |
195 | RED_ON; |
207 | beepRCAlarm(); |
196 | beepRCAlarm(); |
208 | 197 | ||
209 | if(emergencyFlightTime) { |
198 | if(emergencyFlightTime) { |
210 | // continue emergency flight |
199 | // continue emergency flight |
211 | emergencyFlightTime--; |
200 | emergencyFlightTime--; |
212 | if(isFlying > 256) { |
201 | if(isFlying > 256) { |
213 | // We're probably still flying. Descend slowly. |
202 | // We're probably still flying. Descend slowly. |
214 | throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
203 | throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
215 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
204 | MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
216 | setStableFlightParameters(); |
205 | setStableFlightParameters(); |
217 | } else { |
206 | } else { |
218 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
207 | MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
219 | } |
208 | } |
220 | } else { |
209 | } else { |
221 | // end emergency flight (just cut the motors???) |
210 | // end emergency flight (just cut the motors???) |
222 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
211 | MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
223 | } |
212 | } |
224 | } else { |
213 | } else { |
225 | // signal is acceptable |
214 | // signal is acceptable |
226 | if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
215 | if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
227 | // Reset emergency landing control variables. |
216 | // Reset emergency landing control variables. |
228 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
217 | MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
229 | // The time is in whole seconds. |
218 | // The time is in whole seconds. |
230 | emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488; |
219 | emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488; |
231 | } |
220 | } |
232 | 221 | ||
233 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
222 | // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
234 | if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
223 | if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
235 | // increment flight-time counter until overflow. |
224 | // increment flight-time counter until overflow. |
236 | if(isFlying != 0xFFFF) isFlying++; |
225 | if(isFlying != 0xFFFF) isFlying++; |
237 | } else |
226 | } else |
238 | /* |
227 | /* |
239 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
228 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
240 | * Probably to avoid integration effects that will cause the copter to spin |
229 | * Probably to avoid integration effects that will cause the copter to spin |
241 | * or flip when taking off. |
230 | * or flip when taking off. |
242 | */ |
231 | */ |
243 | if(isFlying < 256) { |
232 | if(isFlying < 256) { |
244 | IPart[PITCH] = IPart[ROLL] = 0; |
233 | IPart[PITCH] = IPart[ROLL] = 0; |
245 | // TODO: Don't stomp on other modules' variables!!! |
234 | // TODO: Don't stomp on other modules' variables!!! |
246 | // controlYaw = 0; |
235 | // controlYaw = 0; |
247 | PDPartYaw = 0; // instead. |
236 | PDPartYaw = 0; // instead. |
248 | if(isFlying == 250) { |
237 | if(isFlying == 250) { |
249 | // HC_setGround(); |
238 | // HC_setGround(); |
250 | updateCompassCourse = 1; |
239 | updateCompassCourse = 1; |
251 | yawAngleDiff = 0; |
240 | yawAngleDiff = 0; |
252 | } |
241 | } |
253 | } else { |
242 | } else { |
254 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
243 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
255 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
244 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
256 | MKFlags |= (MKFLAG_FLY); |
245 | MKFlags |= (MKFLAG_FLY); |
257 | } |
246 | } |
258 | 247 | ||
259 | commands_handleCommands(); |
248 | commands_handleCommands(); |
260 | 249 | ||
261 | // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
250 | // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
262 | setNormalFlightParameters(); |
251 | setNormalFlightParameters(); |
263 | // } |
252 | // } |
264 | } // end else (not bad signal case) |
253 | } // end else (not bad signal case) |
265 | // end part1a: 750-800 usec. |
254 | // end part1a: 750-800 usec. |
266 | /* |
255 | /* |
267 | * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
256 | * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
268 | * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
257 | * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
269 | * This is the throttle part. |
258 | * This is the throttle part. |
270 | */ |
259 | */ |
271 | if(looping) { |
260 | if(looping) { |
272 | if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
261 | if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
273 | } |
262 | } |
274 | 263 | ||
275 | /************************************************************************/ |
264 | /************************************************************************/ |
276 | /* Yawing */ |
265 | /* Yawing */ |
277 | /************************************************************************/ |
266 | /************************************************************************/ |
278 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
267 | if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
279 | badCompassHeading = 1000; |
268 | badCompassHeading = 1000; |
280 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
269 | if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
281 | updateCompassCourse = 1; |
270 | updateCompassCourse = 1; |
282 | } |
271 | } |
283 | } |
272 | } |
284 | 273 | ||
285 | // yawControlRate = controlYaw; |
274 | // yawControlRate = controlYaw; |
286 | 275 | ||
287 | // Trim drift of yawAngleDiff with controlYaw. |
276 | // Trim drift of yawAngleDiff with controlYaw. |
288 | // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
277 | // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
289 | // This seems to be used as: Difference desired <--> real heading. |
278 | // This seems to be used as: Difference desired <--> real heading. |
290 | yawAngleDiff -= controlYaw; |
279 | yawAngleDiff -= controlYaw; |
291 | 280 | ||
292 | // limit the effect |
281 | // limit the effect |
293 | CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
282 | CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
294 | 283 | ||
295 | /************************************************************************/ |
284 | /************************************************************************/ |
296 | /* Compass is currently not supported. */ |
285 | /* Compass is currently not supported. */ |
297 | /************************************************************************/ |
286 | /************************************************************************/ |
298 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
287 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
299 | updateCompass(); |
288 | updateCompass(); |
300 | } |
289 | } |
301 | 290 | ||
302 | #if defined (USE_MK3MAG) |
291 | #if defined (USE_MK3MAG) |
303 | /************************************************************************/ |
292 | /************************************************************************/ |
304 | /* GPS is currently not supported. */ |
293 | /* GPS is currently not supported. */ |
305 | /************************************************************************/ |
294 | /************************************************************************/ |
306 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
295 | if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
307 | GPS_Main(); |
296 | GPS_Main(); |
308 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
297 | MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
309 | } |
298 | } |
310 | else { |
299 | else { |
311 | // GPSStickPitch = 0; |
300 | // GPSStickPitch = 0; |
312 | // GPSStickRoll = 0; |
301 | // GPSStickRoll = 0; |
313 | } |
302 | } |
314 | #endif |
303 | #endif |
315 | // end part 1: 750-800 usec. |
304 | // end part 1: 750-800 usec. |
316 | // start part 3: 350 - 400 usec. |
305 | // start part 3: 350 - 400 usec. |
317 | #define SENSOR_LIMIT (4096 * 4) |
306 | #define SENSOR_LIMIT (4096 * 4) |
318 | /************************************************************************/ |
307 | /************************************************************************/ |
319 | 308 | ||
320 | /* Calculate control feedback from angle (gyro integral) */ |
309 | /* Calculate control feedback from angle (gyro integral) */ |
321 | /* and angular velocity (gyro signal) */ |
310 | /* and angular velocity (gyro signal) */ |
322 | /************************************************************************/ |
311 | /************************************************************************/ |
323 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
312 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
324 | for (axis=PITCH; axis<=ROLL; axis++) { |
313 | for (axis=PITCH; axis<=ROLL; axis++) { |
325 | if(looping & ((1<<4)<<axis)) { |
314 | if(looping & ((1<<4)<<axis)) { |
326 | PPart[axis] = 0; |
315 | PPart[axis] = 0; |
327 | } else { // TODO: Where do the 44000 come from??? |
316 | } else { // TODO: Where do the 44000 come from??? |
328 | PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
317 | PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
329 | } |
318 | } |
330 | 319 | ||
331 | /* |
320 | /* |
332 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
321 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
333 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
322 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
334 | * where pfactor is in [0..1]. |
323 | * where pfactor is in [0..1]. |
335 | */ |
324 | */ |
336 | PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
325 | PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
337 | + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
326 | + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
338 | 327 | ||
339 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
328 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
340 | } |
329 | } |
341 | 330 | ||
342 | PDPartYaw = |
331 | PDPartYaw = |
343 | (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
332 | (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
344 | + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
333 | + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
345 | 334 | ||
346 | // limit control feedback |
335 | // limit control feedback |
347 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
336 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
348 | 337 | ||
349 | /* |
338 | /* |
350 | * Compose throttle term. |
339 | * Compose throttle term. |
351 | * If a Bl-Ctrl is missing, prevent takeoff. |
340 | * If a Bl-Ctrl is missing, prevent takeoff. |
352 | */ |
341 | */ |
353 | if(missingMotor) { |
342 | if(missingMotor) { |
354 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
343 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
355 | if(isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
344 | if(isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
356 | isFlying = 1; // keep within lift off condition |
345 | isFlying = 1; // keep within lift off condition |
357 | throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
346 | throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
358 | } |
347 | } |
359 | 348 | ||
360 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
349 | // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
361 | throttleTerm *= CONTROL_SCALING; |
350 | throttleTerm *= CONTROL_SCALING; |
362 | 351 | ||
363 | /* |
352 | /* |
364 | * Compose yaw term. |
353 | * Compose yaw term. |
365 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
354 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
366 | * However, at low throttle the yaw term is limited to a fixed value, |
355 | * However, at low throttle the yaw term is limited to a fixed value, |
367 | * and at high throttle it is limited by the throttle reserve (the difference |
356 | * and at high throttle it is limited by the throttle reserve (the difference |
368 | * between current throttle and maximum throttle). |
357 | * between current throttle and maximum throttle). |
369 | */ |
358 | */ |
370 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
359 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
371 | yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
360 | yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
372 | // Limit yawTerm |
361 | // Limit yawTerm |
373 | if(throttleTerm > MIN_YAWGAS) { |
362 | if(throttleTerm > MIN_YAWGAS) { |
374 | CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
363 | CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
375 | } else { |
364 | } else { |
376 | CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
365 | CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
377 | } |
366 | } |
378 | 367 | ||
379 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
368 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
380 | CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
369 | CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
381 | 370 | ||
382 | tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
371 | tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
383 | 372 | ||
384 | for (axis=PITCH; axis<=ROLL; axis++) { |
373 | for (axis=PITCH; axis<=ROLL; axis++) { |
385 | /* |
374 | /* |
386 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
375 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
387 | */ |
376 | */ |
388 | if(gyroIFactor) { |
377 | if(gyroIFactor) { |
389 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
378 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
390 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
379 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
391 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
380 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
392 | IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
381 | IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
393 | } else { |
382 | } else { |
394 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
383 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
395 | // To keep up with a full stick PDPart should be about 156... |
384 | // To keep up with a full stick PDPart should be about 156... |
396 | IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
385 | IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
397 | } |
386 | } |
398 | 387 | ||
399 | // TODO: From which planet comes the 16000? |
388 | // TODO: From which planet comes the 16000? |
400 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
389 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
401 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
390 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
402 | term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
391 | term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
403 | 392 | ||
404 | /* |
393 | /* |
405 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
394 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
406 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
395 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
407 | * (max. pitch or roll term is the throttle value). |
396 | * (max. pitch or roll term is the throttle value). |
408 | * TODO: Why a growing function of yaw? |
397 | * TODO: Why a growing function of yaw? |
409 | */ |
398 | */ |
410 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
399 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
411 | } |
400 | } |
412 | // end part 3: 350 - 400 usec. |
401 | // end part 3: 350 - 400 usec. |
413 | 402 | ||
414 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
403 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
415 | // Universal Mixer |
404 | // Universal Mixer |
416 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
405 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
417 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
406 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
418 | 407 | ||
419 | DebugOut.Analog[12] = term[PITCH]; |
408 | DebugOut.Analog[12] = term[PITCH]; |
420 | DebugOut.Analog[13] = term[ROLL]; |
409 | DebugOut.Analog[13] = term[ROLL]; |
421 | DebugOut.Analog[14] = yawTerm; |
410 | DebugOut.Analog[14] = yawTerm; |
422 | DebugOut.Analog[15] = throttleTerm; |
411 | DebugOut.Analog[15] = throttleTerm; |
423 | 412 | ||
424 | for(i = 0; i < MAX_MOTORS; i++) { |
413 | for(i = 0; i < MAX_MOTORS; i++) { |
425 | int16_t tmp; |
414 | int16_t tmp; |
426 | if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
415 | if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
427 | tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
416 | tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
428 | tmp += ((int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
417 | tmp += ((int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
429 | tmp += ((int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
418 | tmp += ((int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
430 | tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
419 | tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
431 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
420 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
432 | // Now we scale back down to a 0..255 range. |
421 | // Now we scale back down to a 0..255 range. |
433 | tmp = motorFilters[i] / CONTROL_SCALING; |
422 | tmp = motorFilters[i] / CONTROL_SCALING; |
434 | // So this was the THIRD time a throttle was limited. But should the limitation |
423 | // So this was the THIRD time a throttle was limited. But should the limitation |
435 | // apply to the common throttle signal (the one used for setting the "power" of |
424 | // apply to the common throttle signal (the one used for setting the "power" of |
436 | // all motors together) or should it limit the throttle set for each motor, |
425 | // all motors together) or should it limit the throttle set for each motor, |
437 | // including mix components of pitch, roll and yaw? I think only the common |
426 | // including mix components of pitch, roll and yaw? I think only the common |
438 | // throttle should be limited. |
427 | // throttle should be limited. |
439 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
428 | // --> WRONG. This caused motors to stall completely in tight maneuvers. |
440 | // Apply to individual signals instead. |
429 | // Apply to individual signals instead. |
441 | CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
430 | CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
442 | CHECK_MIN_MAX(tmp, 1, 255); |
431 | CHECK_MIN_MAX(tmp, 1, 255); |
443 | motor[i].SetPoint = tmp; |
432 | motor[i].SetPoint = tmp; |
444 | } |
433 | } |
445 | else if (motorTestActive) { |
434 | else if (motorTestActive) { |
446 | motor[i].SetPoint = motorTest[i]; |
435 | motor[i].SetPoint = motorTest[i]; |
447 | } else { |
436 | } else { |
448 | motor[i].SetPoint = 0; |
437 | motor[i].SetPoint = 0; |
449 | } |
438 | } |
450 | if (i < 4) |
439 | if (i < 4) |
451 | DebugOut.Analog[22+i] = motor[i].SetPoint; |
440 | DebugOut.Analog[22+i] = motor[i].SetPoint; |
452 | } |
441 | } |
453 | I2C_Start(TWI_STATE_MOTOR_TX); |
442 | I2C_Start(TWI_STATE_MOTOR_TX); |
454 | 443 | ||
455 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
444 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | // Debugging |
445 | // Debugging |
457 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
446 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
458 | if(!(--debugDataTimer)) { |
447 | if(!(--debugDataTimer)) { |
459 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
448 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
460 | DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
449 | DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
461 | DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
450 | DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
462 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
451 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
463 | 452 | ||
464 | /* |
453 | /* |
465 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
454 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
466 | DebugOut.Analog[24] = controlYaw; |
455 | DebugOut.Analog[24] = controlYaw; |
467 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
456 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
468 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
457 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
469 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
458 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
470 | */ |
- | |
471 | - | ||
472 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
459 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
473 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
460 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
- | 461 | */ |
|
474 | } |
462 | } |
475 | } |
463 | } |
476 | 464 |