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Line 54... | Line 54... | ||
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" |
Line 57... | Line 57... | ||
57 | 57 | ||
58 | // Only for debug. Remove. |
58 | // Only for debug. Remove. |
59 | #include "analog.h" |
59 | //#include "analog.h" |
Line 60... | Line 60... | ||
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" |
Line 72... | Line 72... | ||
72 | 72 | ||
73 | /* |
73 | /* |
74 | * These are no longer maintained, just left at 0. The original implementation just summed the acc. |
74 | * These are no longer maintained, just left at 0.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??? |
75 | * value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey??? |
76 | */ |
76 | */ |
Line 77... | Line 77... | ||
77 | int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
77 | // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
78 | 78 | ||
79 | // MK flags |
79 | // MK flags |
Line 126... | Line 126... | ||
126 | dynamicParams.KalmanK = -1; |
126 | dynamicParams.KalmanK = -1; |
127 | dynamicParams.KalmanMaxDrift = 0; |
127 | dynamicParams.KalmanMaxDrift = 0; |
128 | dynamicParams.KalmanMaxFusion = 32; |
128 | dynamicParams.KalmanMaxFusion = 32; |
Line 129... | Line 129... | ||
129 | 129 | ||
130 | controlMixer_initVariables(); |
- | |
131 | - | ||
132 | // TODO: Move off. |
- | |
133 | // RC_Quality = 100; |
130 | controlMixer_initVariables(); |
Line 134... | Line 131... | ||
134 | } |
131 | } |
135 | 132 | ||
136 | /************************************************************************/ |
133 | /************************************************************************/ |
Line 148... | Line 145... | ||
148 | } |
145 | } |
149 | if(motorTestActive) motorTestActive--; |
146 | if(motorTestActive) motorTestActive--; |
150 | } |
147 | } |
Line 151... | Line 148... | ||
151 | 148 | ||
152 | /* |
149 | /* |
153 | DebugOut.Analog[12] = Motor[0].SetPoint; // Front |
150 | DebugOut.Analog[] = Motor[0].SetPoint; // Front |
154 | DebugOut.Analog[13] = Motor[1].SetPoint; // Rear |
151 | DebugOut.Analog[] = Motor[1].SetPoint; // Rear |
155 | DebugOut.Analog[14] = Motor[3].SetPoint; // Left |
152 | DebugOut.Analog[] = Motor[3].SetPoint; // Left |
156 | DebugOut.Analog[15] = Motor[2].SetPoint; // Right |
153 | DebugOut.Analog[] = Motor[2].SetPoint; // Right |
157 | */ |
154 | */ |
158 | // Start I2C Interrupt Mode |
155 | // Start I2C Interrupt Mode |
159 | I2C_Start(TWI_STATE_MOTOR_TX); |
156 | I2C_Start(TWI_STATE_MOTOR_TX); |
Line 246... | Line 243... | ||
246 | /* Main Flight Control */ |
243 | /* Main Flight Control */ |
247 | /************************************************************************/ |
244 | /************************************************************************/ |
248 | void flight_control(void) { |
245 | void flight_control(void) { |
249 | int16_t tmp_int; |
246 | int16_t tmp_int; |
250 | // Mixer Fractions that are combined for Motor Control |
247 | // Mixer Fractions that are combined for Motor Control |
251 | int16_t yawTerm, throttleTerm, pitchTerm, rollTerm; |
248 | int16_t yawTerm, throttleTerm, term[2]; |
Line 252... | Line 249... | ||
252 | 249 | ||
253 | // PID controller variables |
250 | // PID controller variables |
254 | int16_t PDPartPitch, PDPartRoll, PDPartYaw, PPartPitch, PPartRoll; |
251 | int16_t PDPart[2], PDPartYaw, PPart[2]; |
255 | static int32_t IPartPitch = 0, IPartRoll = 0; |
- | |
256 | 252 | static int32_t IPart[2] = {0,0}; |
|
Line 257... | Line 253... | ||
257 | static int32_t setPointYaw = 0; |
253 | static int32_t setPointYaw = 0; |
258 | 254 | ||
259 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
255 | // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
Line 260... | Line 256... | ||
260 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
256 | // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
261 | // static int32_t CorrectionPitch, CorrectionRoll; |
- | |
262 | - | ||
263 | static uint16_t emergencyFlightTime; |
- | |
264 | - | ||
265 | // No support for altitude control right now. |
- | |
266 | // static uint8_t HeightControlActive = 0; |
257 | // static int32_t CorrectionPitch, CorrectionRoll; |
Line 267... | Line 258... | ||
267 | // static int16_t HeightControlGas = 0; |
258 | |
268 | 259 | static uint16_t emergencyFlightTime; |
|
Line 269... | Line 260... | ||
269 | static int8_t debugDataTimer = 1; |
260 | static int8_t debugDataTimer = 1; |
Line 270... | Line 261... | ||
270 | 261 | ||
271 | // High resolution motor values for smoothing of PID motor outputs |
262 | // High resolution motor values for smoothing of PID motor outputs |
272 | static int16_t motorFilters[MAX_MOTORS]; |
263 | static int16_t motorFilters[MAX_MOTORS]; |
Line 326... | Line 317... | ||
326 | } else |
317 | } else |
327 | /* |
318 | /* |
328 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
319 | * When standing on the ground, do not apply I controls and zero the yaw stick. |
329 | * Probably to avoid integration effects that will cause the copter to spin |
320 | * Probably to avoid integration effects that will cause the copter to spin |
330 | * or flip when taking off. |
321 | * or flip when taking off. |
331 | * TODO: What was the value of IPartPitch? At 1st run of this, it's 0 already. |
- | |
332 | */ |
322 | */ |
333 | if(isFlying < 256) { |
323 | if(isFlying < 256) { |
334 | IPartPitch = 0; |
324 | IPart[PITCH] = IPart[ROLL] = 0; |
335 | IPartRoll = 0; |
- | |
336 | // TODO: Don't stomp on other modules' variables!!! |
325 | // TODO: Don't stomp on other modules' variables!!! |
337 | controlYaw = 0; |
326 | controlYaw = 0; |
338 | if(isFlying == 250) { |
327 | if(isFlying == 250) { |
339 | updateCompassCourse = 1; |
328 | updateCompassCourse = 1; |
340 | yawAngle = 0; |
329 | yawAngle = 0; |
341 | setPointYaw = 0; |
330 | setPointYaw = 0; |
342 | } |
331 | } |
343 | } else { |
332 | } else { |
344 | // DebugOut.Digital[1] = 0; |
333 | // DebugOut.Digital[1] = 0; |
345 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
334 | // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
346 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
335 | // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
347 | MKFlags |= (MKFLAG_FLY); |
336 | MKFlags |= (MKFLAG_FLY); |
348 | } |
337 | } |
Line 349... | Line 338... | ||
349 | 338 | ||
350 | /* |
339 | /* |
351 | * Get the current command (start/stop motors, calibrate), if any. |
340 | * Get the current command (start/stop motors, calibrate), if any. |
Line 397... | Line 386... | ||
397 | updateCompass(); |
386 | updateCompass(); |
398 | } |
387 | } |
399 | */ |
388 | */ |
Line 400... | Line 389... | ||
400 | 389 | ||
401 | #if defined (USE_MK3MAG) |
- | |
402 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
403 | - | ||
404 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
390 | #if defined (USE_MK3MAG) |
405 | /************************************************************************/ |
391 | /************************************************************************/ |
406 | /* GPS is currently not supported. */ |
392 | /* GPS is currently not supported. */ |
407 | /************************************************************************/ |
393 | /************************************************************************/ |
408 | /* |
394 | /* |
Line 414... | Line 400... | ||
414 | // GPSStickPitch = 0; |
400 | // GPSStickPitch = 0; |
415 | // GPSStickRoll = 0; |
401 | // GPSStickRoll = 0; |
416 | } |
402 | } |
417 | */ |
403 | */ |
418 | #endif |
404 | #endif |
- | 405 | ||
- | 406 | #define SENSOR_LIMIT (4096 * 4) |
|
Line 419... | Line 407... | ||
419 | 407 | ||
420 | /************************************************************************/ |
408 | /************************************************************************/ |
421 | /* Calculate control feedback from angle (gyro integral) */ |
409 | /* Calculate control feedback from angle (gyro integral) */ |
422 | /* and angular velocity (gyro signal) */ |
410 | /* and angular velocity (gyro signal) */ |
423 | /************************************************************************/ |
411 | /************************************************************************/ |
- | 412 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
|
424 | // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
413 | for (axis=PITCH; axis<=ROLL; axis++) { |
425 | if(looping & LOOPING_PITCH_AXIS) { |
414 | if(looping & (1<<(4+axis))) { |
426 | PPartPitch = 0; |
415 | PPart[axis] = 0; |
427 | } else { // TODO: Where do the 44000 come from??? |
416 | } else { // TODO: Where do the 44000 come from??? |
428 | PPartPitch = pitchAngle * gyroIFactor / (44000 / STICK_GAIN); // P-Part - Proportional to Integral |
417 | PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
429 | } |
418 | } |
- | 419 | ||
430 | 420 | /* |
|
- | 421 | * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
|
- | 422 | * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
|
- | 423 | * where pfactor is in [0..1]. |
|
431 | // Now blend in the D-part - proportional to the Differential of the integral = the rate. |
424 | */ |
432 | PDPartPitch = PPartPitch + (int32_t)((int32_t)pitchRate_PID * gyroPFactor / (256L / STICK_GAIN)) |
425 | PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
433 | + (pitchDifferential * (int16_t)dynamicParams.GyroD) / 16; |
426 | + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
434 | - | ||
435 | // The P-part is actually the I-part... |
- | |
436 | if(looping & LOOPING_ROLL_AXIS) { |
- | |
437 | PPartRoll = 0; |
427 | |
438 | } else { // TODO: Where do the 44000 come from??? |
- | |
439 | PPartRoll = (rollAngle * gyroIFactor) / (44000 / STICK_GAIN); // P-Part - Proportional to Integral |
428 | CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
Line 440... | Line -... | ||
440 | } |
- | |
441 | - | ||
442 | // Now blend in the P-part - proportional to the Differential of the integral = the rate |
- | |
443 | PDPartRoll = PPartRoll + (int32_t)((int32_t)rollRate_PID * gyroPFactor / (256L / STICK_GAIN)) |
- | |
444 | + (rollDifferential * (int16_t)dynamicParams.GyroD) / 16; |
429 | } |
445 | 430 | ||
Line 446... | Line 431... | ||
446 | PDPartYaw = (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / STICK_GAIN) |
431 | PDPartYaw = (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
447 | + (int32_t)(yawAngle * yawIFactor) / (2 * (44000 / STICK_GAIN)); |
- | |
448 | - | ||
449 | // limit control feedback |
- | |
450 | #define SENSOR_LIMIT (4096 * 4) |
432 | + (int32_t)(yawAngle * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
Line 451... | Line 433... | ||
451 | CHECK_MIN_MAX(PDPartPitch, -SENSOR_LIMIT, SENSOR_LIMIT); |
433 | |
452 | CHECK_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
434 | // limit control feedback |
453 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
435 | CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
Line 465... | Line 447... | ||
465 | 447 | ||
466 | /* |
448 | /* |
467 | * Height control was here. |
449 | * Height control was here. |
468 | */ |
450 | */ |
469 | if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
451 | if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
Line 470... | Line 452... | ||
470 | throttleTerm *= STICK_GAIN; |
452 | throttleTerm *= CONTROL_SCALING; |
471 | 453 | ||
- | 454 | /* |
|
- | 455 | * Compose yaw term. |
|
- | 456 | * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
|
- | 457 | * However, at low throttle the yaw term is limited to a fixed value, |
|
472 | /* |
458 | * and at high throttle it is limited by the throttle reserve (the difference |
473 | * Compose yaw term. |
459 | * between current throttle and maximum throttle). |
474 | */ |
460 | */ |
475 | #define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
461 | #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
476 | yawTerm = PDPartYaw - setPointYaw * STICK_GAIN; |
462 | yawTerm = PDPartYaw - setPointYaw * CONTROL_SCALING; |
477 | // limit yawTerm |
- | |
478 | if(throttleTerm > MIN_YAWGAS) { |
- | |
479 | /* |
- | |
480 | * -throttle/2 < -20 <= yawTerm <= 20 < throttle/2 |
463 | // limit yawTerm |
481 | */ |
464 | if(throttleTerm > MIN_YAWGAS) { |
482 | CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
- | |
483 | } else { |
- | |
484 | /* |
- | |
485 | * -20 <= yawTerm <= 20 |
465 | CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
486 | */ |
466 | } else { |
Line 487... | Line 467... | ||
487 | CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
467 | CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
488 | } |
- | |
489 | - | ||
490 | tmp_int = staticParams.MaxThrottle * STICK_GAIN; |
- | |
491 | - | ||
492 | /* |
468 | } |
493 | * throttle-MaxThrottle <= yawTerm <= MaxThrottle-throttle |
- | |
494 | */ |
- | |
495 | CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
- | |
496 | - | ||
497 | /* |
- | |
498 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
- | |
499 | */ |
- | |
500 | if(gyroIFactor) { |
- | |
501 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
- | |
502 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
- | |
503 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
- | |
504 | IPartPitch += PPartPitch - controlPitch; // Integrate difference between P part (the angle) and the stick pos. |
- | |
505 | IPartRoll += PPartRoll - controlRoll; // I-part for attitude control OK |
- | |
506 | } else { |
- | |
507 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
- | |
508 | IPartPitch += PDPartPitch - controlPitch; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
- | |
509 | IPartRoll += PDPartRoll - controlRoll; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
- | |
510 | } |
- | |
Line 511... | Line -... | ||
511 | - | ||
512 | // TODO: From which planet comes the 16000? |
- | |
513 | CHECK_MIN_MAX(IPartPitch, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
- | |
514 | - | ||
515 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
- | |
516 | pitchTerm = PDPartPitch - controlPitch + IPartPitch / Ki; // PID-controller for pitch |
- | |
517 | - | ||
518 | CHECK_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
- | |
519 | rollTerm = PDPartRoll - controlRoll + IPartRoll / Ki; // PID-controller for roll |
- | |
520 | - | ||
521 | /* |
- | |
522 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
- | |
523 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
469 | |
- | 470 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
|
- | 471 | CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
|
- | 472 | ||
- | 473 | tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
|
- | 474 | ||
- | 475 | for (axis=PITCH; axis<=ROLL; axis++) { |
|
- | 476 | /* |
|
- | 477 | * Compose pitch and roll terms. This is finally where the sticks come into play. |
|
- | 478 | */ |
|
- | 479 | if(gyroIFactor) { |
|
- | 480 | // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
|
- | 481 | // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
|
- | 482 | // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
|
- | 483 | IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
|
- | 484 | } else { |
|
- | 485 | // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
|
- | 486 | // To keep up with a full stick PDPart should be about 156... |
|
- | 487 | 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. |
|
- | 488 | } |
|
- | 489 | ||
- | 490 | // TODO: From which planet comes the 16000? |
|
- | 491 | CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
|
- | 492 | // Add (P, D) parts minus stick pos. to the scaled-down I part. |
|
- | 493 | term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
|
524 | * (max. pitch or roll term is the throttle value). |
494 | |
- | 495 | /* |
|
- | 496 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
|
525 | * TODO: Why a growing function of yaw? |
497 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
- | 498 | * (max. pitch or roll term is the throttle value). |
|
Line 526... | Line 499... | ||
526 | */ |
499 | * TODO: Why a growing function of yaw? |
527 | tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
500 | */ |
- | 501 | CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
|
528 | CHECK_MIN_MAX(pitchTerm, -tmp_int, tmp_int); |
502 | } |
529 | CHECK_MIN_MAX(rollTerm, -tmp_int, tmp_int); |
503 | |
530 | 504 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
531 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
505 | // Universal Mixer |
532 | // Universal Mixer |
506 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
533 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
507 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
534 | for(i = 0; i < MAX_MOTORS; i++) { |
508 | for(i = 0; i < MAX_MOTORS; i++) { |
535 | int16_t tmp; |
509 | int16_t tmp; |
536 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) { // If a motor has a zero throttle mix, it is not considered. |
510 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) { // If a motor has a zero throttle mix, it is not considered. |
537 | tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
511 | tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
538 | tmp += ((int32_t)pitchTerm * Mixer.Motor[i][MIX_PITCH]) / 64L; |
512 | tmp += ((int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
539 | tmp += ((int32_t)rollTerm * Mixer.Motor[i][MIX_ROLL]) / 64L; |
513 | tmp += ((int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
540 | tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
514 | tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
541 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
515 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
542 | tmp = motorFilters[i] / STICK_GAIN; |
516 | tmp = motorFilters[i] / CONTROL_SCALING; |
Line 543... | Line 517... | ||
543 | CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
517 | CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
544 | Motor[i].SetPoint = tmp; |
518 | Motor[i].SetPoint = tmp; |
545 | } |
519 | } |
546 | else Motor[i].SetPoint = 0; |
520 | else Motor[i].SetPoint = 0; |
547 | } |
521 | } |
548 | 522 | ||
549 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
523 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
550 | // Debugwerte zuordnen |
524 | // Debugging |
Line 551... | Line 525... | ||
551 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
525 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
552 | if(!(--debugDataTimer)) { |
526 | if(!(--debugDataTimer)) { |
553 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
527 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
554 | DebugOut.Analog[0] = (10 * pitchAngle) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
528 | DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
555 | DebugOut.Analog[1] = (10 * rollAngle) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
529 | DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
556 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
530 | DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
557 | 531 | ||
558 | DebugOut.Analog[9] = setPointYaw; |
532 | // DebugOut.Analog[9] = setPointYaw; |
Line 559... | Line 533... | ||
559 | DebugOut.Analog[10] = yawIFactor; |
533 | // DebugOut.Analog[10] = yawIFactor; |
560 | DebugOut.Analog[11] = gyroIFactor; |
534 | // DebugOut.Analog[11] = gyroIFactor; |
561 | // DebugOut.Analog[12] = RC_getVariable(0); |
535 | // DebugOut.Analog[12] = RC_getVariable(0); |
562 | // DebugOut.Analog[13] = dynamicParams.UserParams[0]; |
536 | // DebugOut.Analog[13] = dynamicParams.UserParams[0]; |
Line 563... | Line 537... | ||
563 | DebugOut.Analog[14] = RC_getVariable(4); |
537 | // DebugOut.Analog[14] = RC_getVariable(4); |
564 | DebugOut.Analog[15] = dynamicParams.UserParams[4]; |
538 | // DebugOut.Analog[15] = dynamicParams.UserParams[4]; |
565 | /* DebugOut.Analog[11] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; */ |
539 | /* DebugOut.Analog[11] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; */ |
566 | 540 | ||
567 | // 12..15 are the controls. |
- | |
568 | // DebugOut.Analog[16] = pitchAxisAcc; |
- | |
569 | // DebugOut.Analog[17] = rollAxisAcc; |
- | |
Line -... | Line 541... | ||
- | 541 | // 12..15 are the controls. |
|
- | 542 | // DebugOut.Analog[16] = pitchAxisAcc; |
|
- | 543 | // DebugOut.Analog[17] = rollAxisAcc; |
|
- | 544 | // DebugOut.Analog[18] = ZAxisAcc; |
|
570 | // DebugOut.Analog[18] = ZAxisAcc; |
545 | |
571 | 546 | DebugOut.Analog[19] = throttleTerm; |
|
Line 572... | Line 547... | ||
572 | DebugOut.Analog[19] = throttleTerm; |
547 | DebugOut.Analog[20] = term[PITCH]; |
573 | DebugOut.Analog[20] = pitchTerm; |
548 | DebugOut.Analog[21] = term[ROLL]; |
574 | DebugOut.Analog[21] = rollTerm; |
549 | DebugOut.Analog[22] = yawTerm; |
575 | DebugOut.Analog[22] = yawTerm; |
550 |