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1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
2 | #include "attitude.h" |
2 | #include "attitude.h" |
3 | #include "uart0.h" |
3 | #include "uart0.h" |
4 | #include "configuration.h" |
4 | #include "configuration.h" |
5 | #include "controlMixer.h" |
5 | #include "controlMixer.h" |
6 | 6 | ||
7 | // for digital / LED debug. |
7 | // for digital / LED debug. |
8 | #include "output.h" |
8 | #include "output.h" |
9 | 9 | ||
10 | // For scope debugging only! |
10 | // For scope debugging only! |
11 | #include "rc.h" |
11 | #include "rc.h" |
12 | 12 | ||
13 | #define INTEGRAL_LIMIT 100000 |
13 | #define INTEGRAL_LIMIT 100000 |
14 | 14 | ||
15 | /* |
15 | /* |
16 | #define DEBUGINTEGRAL 0 |
16 | #define DEBUGINTEGRAL 0 |
17 | #define DEBUGDIFFERENTIAL 0 |
17 | #define DEBUGDIFFERENTIAL 0 |
18 | #define DEBUGHOVERTHROTTLE 0 |
18 | #define DEBUGHOVERTHROTTLE 0 |
19 | #define DEBUGHEIGHTSWITCH 0 |
19 | #define DEBUGHEIGHTSWITCH 0 |
20 | */ |
20 | */ |
21 | 21 | ||
22 | #define LATCH_TIME 40 |
22 | #define LATCH_TIME 40 |
23 | 23 | ||
24 | int32_t groundPressure; |
24 | int32_t groundPressure; |
25 | 25 | ||
26 | int32_t targetHeight; |
26 | int32_t targetHeight; |
27 | int32_t rampedTargetHeight; |
27 | int32_t rampedTargetHeight; |
28 | 28 | ||
29 | #define DEFAULT_HOVERTHROTTLE 50 |
29 | #define DEFAULT_HOVERTHROTTLE 50 |
30 | int32_t stronglyFilteredHeightDiff = 0; |
30 | int32_t stronglyFilteredHeightDiff = 0; |
31 | uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE; |
31 | uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE; |
32 | uint16_t stronglyFilteredThrottle = DEFAULT_HOVERTHROTTLE; |
32 | uint16_t stronglyFilteredThrottle = DEFAULT_HOVERTHROTTLE; |
33 | #define HOVERTHROTTLEFILTER 25 |
33 | #define HOVERTHROTTLEFILTER 25 |
34 | 34 | ||
35 | uint8_t heightRampingTimer = 0; |
35 | uint8_t heightRampingTimer = 0; |
36 | int32_t maxHeight; |
36 | int32_t maxHeight; |
37 | int32_t iHeight; |
37 | int32_t iHeight; |
38 | /* |
38 | /* |
39 | These parameters are free to take: |
39 | These parameters are free to take: |
40 | uint8_t HeightMinGas; // Value : 0-100 |
40 | uint8_t HeightMinGas; // Value : 0-100 |
41 | uint8_t HeightD; // Value : 0-250 |
41 | uint8_t HeightD; // Value : 0-250 |
42 | uint8_t MaxHeight; // Value : 0-32 |
42 | uint8_t MaxHeight; // Value : 0-32 |
43 | uint8_t HeightP; // Value : 0-32 |
43 | uint8_t HeightP; // Value : 0-32 |
44 | uint8_t Height_Gain; // Value : 0-50 |
44 | uint8_t Height_Gain; // Value : 0-50 |
45 | uint8_t Height_ACC_Effect; // Value : 0-250 |
45 | uint8_t Height_ACC_Effect; // Value : 0-250 |
46 | */ |
46 | */ |
47 | 47 | ||
48 | int32_t getHeight(void) { |
48 | int32_t getHeight(void) { |
49 | return groundPressure - filteredAirPressure; |
49 | return groundPressure - filteredAirPressure; |
50 | } |
50 | } |
51 | 51 | ||
52 | void HC_setGround(void) { |
52 | void HC_setGround(void) { |
53 | groundPressure = filteredAirPressure; |
53 | groundPressure = filteredAirPressure; |
54 | // This should also happen when height control is enabled in-flight. |
54 | // This should also happen when height control is enabled in-flight. |
55 | rampedTargetHeight = getHeight(); |
55 | rampedTargetHeight = getHeight(); |
56 | maxHeight = 0; |
56 | maxHeight = 0; |
57 | iHeight = 0; |
57 | iHeight = 0; |
58 | } |
58 | } |
59 | 59 | ||
60 | void HC_update(void) { |
60 | void HC_update(void) { |
61 | int32_t height = getHeight(); |
61 | int32_t height = getHeight(); |
62 | static uint8_t setHeightLatch = 0; |
62 | static uint8_t setHeightLatch = 0; |
- | 63 | ||
- | 64 | if (height > maxHeight) |
|
- | 65 | maxHeight = height; |
|
- | 66 | ||
- | 67 | if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
|
- | 68 | // If switch is activated in config |
|
- | 69 | DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
|
- | 70 | if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40) { |
|
63 | 71 | // Switch is ON |
|
- | 72 | if (setHeightLatch <= LATCH_TIME) { |
|
- | 73 | if (setHeightLatch == LATCH_TIME) { |
|
64 | if (height > maxHeight) |
74 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
- | 75 | targetHeight = height; |
|
- | 76 | DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH; |
|
- | 77 | } |
|
- | 78 | // Time not yet reached. |
|
- | 79 | setHeightLatch++; |
|
- | 80 | } |
|
- | 81 | } else { |
|
- | 82 | // Switch is OFF. |
|
- | 83 | setHeightLatch = 0; |
|
- | 84 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH; |
|
- | 85 | } |
|
- | 86 | } else { |
|
- | 87 | // Switch is not activated; take the "max-height" as the target height. |
|
- | 88 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
|
- | 89 | targetHeight = (uint16_t) dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
|
65 | maxHeight = height; |
90 | } |
66 | 91 | ||
67 | if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
- | |
68 | // If switch is activated in config |
92 | if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) { |
69 | DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
- | |
70 | if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40) { |
93 | heightRampingTimer = 0; |
71 | // Switch is ON |
- | |
72 | if (setHeightLatch <= LATCH_TIME) { |
94 | if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
73 | if (setHeightLatch == LATCH_TIME) { |
95 | rampedTargetHeight += staticParams.Height_Gain; |
74 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
- | |
- | 96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
|
75 | targetHeight = height; |
97 | rampedTargetHeight -= staticParams.Height_Gain; |
76 | DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH; |
- | |
77 | } |
- | |
78 | // Time not yet reached. |
- | |
79 | setHeightLatch++; |
- | |
80 | } |
- | |
81 | } else { |
- | |
82 | // Switch is OFF. |
- | |
83 | setHeightLatch = 0; |
- | |
84 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH; |
- | |
85 | } |
- | |
86 | } else { |
- | |
87 | // Switch is not activated; take the "max-height" as the target height. |
- | |
88 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
- | |
89 | targetHeight = (uint16_t)dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
98 | } |
90 | } |
- | |
91 | - | ||
92 | if (++heightRampingTimer == INTEGRATION_FREQUENCY/10) { |
- | |
93 | heightRampingTimer = 0; |
- | |
94 | if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
- | |
95 | rampedTargetHeight += staticParams.Height_Gain; |
- | |
96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
- | |
97 | rampedTargetHeight -= staticParams.Height_Gain; |
- | |
98 | } |
- | |
99 | } |
99 | } |
100 | 100 | ||
101 | // height, in meters (so the division factor is: 100) |
101 | // height, in meters (so the division factor is: 100) |
102 | DebugOut.Analog[30] = height / 100; |
102 | DebugOut.Analog[30] = height / 100; |
103 | } |
103 | } |
104 | 104 | ||
105 | // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
105 | // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
106 | // ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH |
106 | // ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH |
107 | // ParamSet.BitConfig & CFG_HEIGHT_3SWITCH |
107 | // ParamSet.BitConfig & CFG_HEIGHT_3SWITCH |
108 | 108 | ||
109 | // takes 180-200 usec (with integral term). That is too heavy!!! |
109 | // takes 180-200 usec (with integral term). That is too heavy!!! |
110 | // takes 100 usec without integral term. |
110 | // takes 100 usec without integral term. |
111 | uint16_t HC_getThrottle(uint16_t throttle) { |
111 | uint16_t HC_getThrottle(uint16_t throttle) { |
112 | int32_t height = getHeight(); |
112 | int32_t height = getHeight(); |
113 | int32_t heightError = rampedTargetHeight - height; |
113 | int32_t heightError = rampedTargetHeight - height; |
114 | 114 | ||
115 | static int32_t lastHeight; |
115 | static int32_t lastHeight; |
116 | 116 | ||
117 | int16_t dHeight = height - lastHeight; |
117 | int16_t dHeight = height - lastHeight; |
118 | lastHeight = height; |
118 | lastHeight = height; |
119 | 119 | ||
120 | // DebugOut.Analog[20] = dHeight; |
120 | // DebugOut.Analog[20] = dHeight; |
121 | // DebugOut.Analog[21] = dynamicParams.MaxHeight; |
121 | // DebugOut.Analog[21] = dynamicParams.MaxHeight; |
122 | 122 | ||
123 | // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec.... |
123 | // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec.... |
124 | // iHeight += heightError; |
124 | // iHeight += heightError; |
125 | 125 | ||
126 | if (dHeight > 0) { |
126 | if (dHeight > 0) { |
127 | DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
127 | DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
128 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
128 | DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
129 | } else if (dHeight < 0) { |
129 | } else if (dHeight < 0) { |
130 | DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
130 | DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
131 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
131 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
132 | } |
132 | } |
133 | 133 | ||
134 | /* |
134 | /* |
135 | if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
135 | if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
136 | else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
136 | else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
137 | else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
137 | else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
138 | else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
138 | else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
139 | */ |
139 | */ |
140 | 140 | ||
- | 141 | int16_t dThrottle = heightError * staticParams.HeightP / 1000 |
|
141 | int16_t dThrottle = heightError * staticParams.HeightP / 1000 /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */ - dHeight * staticParams.HeightD; |
142 | /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */- dHeight |
- | 143 | * staticParams.HeightD; |
|
142 | 144 | ||
143 | // the "minGas" is now a limit for how much up / down the throttle can be varied |
145 | // the "minGas" is now a limit for how much up / down the throttle can be varied |
144 | if (dThrottle > staticParams.HeightMinGas) dThrottle = staticParams.HeightMinGas; |
146 | if (dThrottle > staticParams.HeightMinGas) |
- | 147 | dThrottle = staticParams.HeightMinGas; |
|
145 | else if (dThrottle < -staticParams.HeightMinGas) dThrottle = -staticParams.HeightMinGas; |
148 | else if (dThrottle < -staticParams.HeightMinGas) |
- | 149 | dThrottle = -staticParams.HeightMinGas; |
|
146 | 150 | ||
147 | //DebugOut.Analog[18] = dThrottle; |
151 | //DebugOut.Analog[18] = dThrottle; |
148 | //DebugOut.Analog[19] = iHeight / 10000L; |
152 | //DebugOut.Analog[19] = iHeight / 10000L; |
149 | 153 | ||
150 | // TODO: Eliminate repitition. |
154 | // TODO: Eliminate repitition. |
151 | if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
155 | if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
- | 156 | if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) |
|
152 | if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40)) { |
157 | || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40)) { |
153 | // If switch is not in use --> Just apply height control. |
158 | // If switch is not in use --> Just apply height control. |
154 | // If switch is in use --> only apply height control when switch is also ON. |
159 | // If switch is in use --> only apply height control when switch is also ON. |
155 | throttle += dThrottle; |
160 | throttle += dThrottle; |
156 | } |
161 | } |
157 | } |
162 | } |
158 | 163 | ||
159 | /* Experiment: Find hover-throttle */ |
164 | /* Experiment: Find hover-throttle */ |
- | 165 | stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff |
|
160 | stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
166 | * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
161 | stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER - 1) + throttle) / HOVERTHROTTLEFILTER; |
167 | stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER |
- | 168 | - 1) + throttle) / HOVERTHROTTLEFILTER; |
|
162 | 169 | ||
163 | if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 && stronglyFilteredHeightDiff > -3) { |
170 | if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 |
- | 171 | && stronglyFilteredHeightDiff > -3) { |
|
164 | hoverThrottle = stronglyFilteredThrottle; |
172 | hoverThrottle = stronglyFilteredThrottle; |
165 | DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
173 | DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
166 | // DebugOut.Analog[18] = hoverThrottle; |
174 | // DebugOut.Analog[18] = hoverThrottle; |
167 | } else |
175 | } else |
168 | DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
176 | DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
169 | return throttle; |
177 | return throttle; |
170 | } |
178 | } |
171 | 179 | ||
172 | /* |
180 | /* |
173 | For a variometer thingy: |
181 | For a variometer thingy: |
174 | When switch is thrown on, freeze throttle (capture it into variable) |
182 | When switch is thrown on, freeze throttle (capture it into variable) |
175 | For each iter., add (throttle - frozen throttle) to target height. Maybe don't do ramping. |
183 | For each iter., add (throttle - frozen throttle) to target height. Maybe don't do ramping. |
176 | Output = frozen throttle + whatever is computed +/-. Integral? |
184 | Output = frozen throttle + whatever is computed +/-. Integral? |
177 | */ |
185 | */ |
178 | 186 |