WebSVN - FlightCtrl - Diff - Rev 2045 and 2048 - /branches/dongfang_FC

-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Copyright (c) 04.2007 Holger Buss
-// + Nur für den privaten Gebrauch
-// + www.MikroKopter.com
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
-// + dass eine Nutzung (auch auszugsweise) nur fï¿½r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
-// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
-// + bzgl. der Nutzungsbedingungen aufzunehmen.
-// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
-// + Verkauf von Luftbildaufnahmen, usw.
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
-// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
-// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
-// + eindeutig als Ursprung verlinkt und genannt werden
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
-// + Benutzung auf eigene Gefahr
-// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
-// + mit unserer Zustimmung zulässig
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
-// + this list of conditions and the following disclaimer.
-// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
-// +     from this software without specific prior written permission.
-// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
-// +     for non-commercial use (directly or indirectly)
-// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
-// +     with our written permission
-// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
-// +     clearly linked as origin
-// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
-// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// +  POSSIBILITY OF SUCH DAMAGE.
-// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <stdlib.h>
 #include "controlMixer.h"
 #include "rc.h"
 #include "heightControl.h"
 #include "attitudeControl.h"
 #include "externalControl.h"
+#include "compassControl.h"
 #include "naviControl.h"
 #include "configuration.h"
 #include "attitude.h"
 #include "commands.h"
 #include "output.h"
 uint8_t controlMixer_getSignalQuality(void) {
   uint8_t rcQ = RC_getSignalQuality();
-  uint8_t ecQ = EC_getSignalQuality();
-  if (rcQ < SIGNAL_GOOD) debugOut.digital[0] |= DEBUG_SIGNAL; else debugOut.digital[0] &= ~DEBUG_SIGNAL;
-  if (ecQ < SIGNAL_GOOD) debugOut.digital[1] |= DEBUG_SIGNAL; else debugOut.digital[1] &= ~DEBUG_SIGNAL;
+  uint8_t ecQ = EC_getSignalQuality();
   // This needs not be the only correct solution...
   return rcQ > ecQ ? rcQ : ecQ;
   tmp >>= CADAMPING;
   controlActivity = tmp;
+}
 /*
+ * Update the variables indicating stick position from the sum of R/C, GPS and external control
+ * and whatever other controls we invented in the meantime...
+ * Update variables.
- * Update the variables indicating stick position from the sum of R/C, GPS and external control.
+ * Decode commands but do not execute them.
+ */
+int16_t tempPRTY[4];
  */
 void controlMixer_periodicTask(void) {
   // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
   // TODO: If no signal --> zero.
-  int16_t tempThrottle;
+  // HC_periodicTask();
-  // takes almost no time...
+  // This will init the values (not just add to them).
-  RC_periodicTask();
+  RC_periodicTaskAndPRTY(tempPRTY);
-  // takes almost no time...
+  // Add external control to RC
-  EC_periodicTask();
+  EC_periodicTaskAndPRTY(tempPRTY);
-  // takes about 80 usec.
+  // Add navigations control to RC and external control.
-  HC_periodicTask();
+  navigation_periodicTaskAndPRTY(tempPRTY);
+  // Add compass control (could also have been before navi, they are independent)
-  int16_t* RC_PRTY = RC_getPRTY();
+  CC_periodicTaskAndPRTY(tempPRTY);
-  int16_t* EC_PRTY = EC_getPRTY();
-  debugOut.analog[29] = RC_PRTY[CONTROL_PITCH];
+  // Add height control (could also have been before navi and/or compass, they are independent)
-  debugOut.analog[30] = RC_PRTY[CONTROL_ROLL];
+  HC_periodicTaskAndPRTY(tempPRTY);
-  int16_t naviSticks[] = {RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH], RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]};
+  // Add attitude control (could also have been before navi and/or compass, they are independent)
-  navigation_periodicTask(&naviSticks);
+  AC_getPRTY(tempPRTY);
   updateControlAndMeasureControlActivity(CONTROL_PITCH, naviSticks[CONTROL_PITCH]);
-  updateControlAndMeasureControlActivity(CONTROL_ROLL, naviSticks[CONTROL_ROLL]);
+  // Commit results to global variable and also measure control activity.
-  updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]);
+  updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]);
-  dampenControlActivity();
+  updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]);
   updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]);
      else controlYaw = 0;
+     }
   */
   /*
-   * Record maxima
+   * Record maxima. Predecessor of the control activity stuff.
    for (axis = PITCH; axis <= ROLL; axis++) {
    if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) {
    maxControl[axis] = abs(control[axis]) / CONTROL_SCALING;
    if (maxControl[axis] > 100)
    maxControl[axis] = 100;
    } else if (maxControl[axis])
    maxControl[axis]--;
+   }
+  */
   */
   // Decode commands.
   uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
     : COMMAND_NONE;
     // Both sources have no command, or one or both are out.
     // Just set to false. There is no reason to check if the none-command was repeated anyway.
     isCommandRepeated = 0;
     lastCommand = COMMAND_NONE;
+  }
-  //if (rcCommand != COMMAND_NONE) debugOut.digital[0] |= DEBUG_SIGNAL; else debugOut.digital[0] &= ~DEBUG_SIGNAL;
-  //if (isCommandRepeated) debugOut.digital[1] |= DEBUG_SIGNAL; else debugOut.digital[1] &= ~DEBUG_SIGNAL;
- }
-// TODO: Integrate into command system.
-uint8_t controlMixer_testCompassCalState(void) {
-  return RC_testCompassCalState();
+ }

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/controlMixer.c @ 2510 - Rev 2045 → 2048