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Line 11... | Line 11... | ||
11 | #include "rc.h" |
11 | #include "rc.h" |
Line 12... | Line 12... | ||
12 | 12 | ||
Line 13... | Line 13... | ||
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 |
Line 19... | Line 19... | ||
19 | #define DEBUGHEIGHTSWITCH 0 |
19 | #define DEBUGHEIGHTSWITCH 0 |
Line 20... | Line 20... | ||
20 | */ |
20 | */ |
Line 34... | Line 34... | ||
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 |
Line 46... | Line 46... | ||
46 | */ |
46 | */ |
47 | 47 | ||
48 | int32_t getHeight(void) { |
48 | int32_t getHeight(void) { |
Line 49... | Line 49... | ||
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(); |
Line 56... | Line 56... | ||
56 | maxHeight = 0; |
56 | maxHeight = 0; |
57 | iHeight = 0; |
57 | iHeight = 0; |
58 | } |
58 | } |
- | 59 | ||
- | 60 | void HC_update(void) { |
|
- | 61 | int32_t height = getHeight(); |
|
Line -... | Line 62... | ||
- | 62 | static uint8_t setHeightLatch = 0; |
|
- | 63 | ||
- | 64 | if (height > maxHeight) |
|
- | 65 | maxHeight = height; |
|
- | 66 | ||
59 | 67 | if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
|
- | 68 | // If switch is activated in config |
|
- | 69 | DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
|
60 | void HC_update(void) { |
70 | if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40) { |
- | 71 | // Switch is ON |
|
- | 72 | if (setHeightLatch <= LATCH_TIME) { |
|
- | 73 | if (setHeightLatch == LATCH_TIME) { |
|
- | 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 | } |
|
Line 61... | Line 86... | ||
61 | int32_t height = getHeight(); |
86 | } else { |
62 | static uint8_t setHeightLatch = 0; |
87 | // Switch is not activated; take the "max-height" as the target height. |
63 | - | ||
64 | if (height > maxHeight) |
88 | DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
65 | maxHeight = height; |
- | |
66 | 89 | targetHeight = (uint16_t) dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
|
67 | if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
- | |
68 | // If switch is activated in config |
90 | } |
69 | DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
91 | |
70 | if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40) { |
- | |
- | 92 | if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) { |
|
71 | // Switch is ON |
93 | heightRampingTimer = 0; |
72 | if (setHeightLatch <= LATCH_TIME) { |
- | |
73 | if (setHeightLatch == LATCH_TIME) { |
- | |
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 | } |
94 | if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
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; |
- | |
90 | } |
- | |
91 | - | ||
92 | if (++heightRampingTimer == INTEGRATION_FREQUENCY/10) { |
- | |
93 | heightRampingTimer = 0; |
- | |
94 | if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
- | |
95 | rampedTargetHeight += staticParams.Height_Gain; |
95 | rampedTargetHeight += staticParams.Height_Gain; |
96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
97 | rampedTargetHeight -= staticParams.Height_Gain; |
97 | rampedTargetHeight -= staticParams.Height_Gain; |
Line 98... | Line 98... | ||
98 | } |
98 | } |
99 | } |
99 | } |
100 | 100 | ||
Line 101... | Line 101... | ||
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 | /* |
|
- | 135 | if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
|
134 | /* |
136 | else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
135 | if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
137 | else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
136 | else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
138 | else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
- | 139 | */ |
|
137 | else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
140 | |
- | 141 | int16_t dThrottle = heightError * staticParams.HeightP / 1000 |
|
138 | else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
142 | /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */- dHeight |
139 | */ |
143 | * staticParams.HeightD; |
140 | 144 | ||
141 | int16_t dThrottle = heightError * staticParams.HeightP / 1000 /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */ - dHeight * staticParams.HeightD; |
145 | // the "minGas" is now a limit for how much up / down the throttle can be varied |
142 | 146 | if (dThrottle > staticParams.HeightMinGas) |
|
143 | // the "minGas" is now a limit for how much up / down the throttle can be varied |
147 | dThrottle = staticParams.HeightMinGas; |
- | 148 | else if (dThrottle < -staticParams.HeightMinGas) |
|
144 | if (dThrottle > staticParams.HeightMinGas) dThrottle = staticParams.HeightMinGas; |
149 | dThrottle = -staticParams.HeightMinGas; |
145 | else if (dThrottle < -staticParams.HeightMinGas) dThrottle = -staticParams.HeightMinGas; |
150 | |
146 | 151 | //DebugOut.Analog[18] = dThrottle; |
|
147 | //DebugOut.Analog[18] = dThrottle; |
152 | //DebugOut.Analog[19] = iHeight / 10000L; |
148 | //DebugOut.Analog[19] = iHeight / 10000L; |
153 | |
149 | 154 | // TODO: Eliminate repitition. |
|
150 | // TODO: Eliminate repitition. |
155 | if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
151 | if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
156 | if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) |
- | 157 | || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40)) { |
|
152 | if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40)) { |
158 | // If switch is not in use --> Just apply height control. |
153 | // If switch is not in use --> Just apply height control. |
159 | // If switch is in use --> only apply height control when switch is also ON. |
- | 160 | throttle += dThrottle; |
|
154 | // If switch is in use --> only apply height control when switch is also ON. |
161 | } |
155 | throttle += dThrottle; |
162 | } |
- | 163 | ||
156 | } |
164 | /* Experiment: Find hover-throttle */ |
157 | } |
165 | stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff |
158 | 166 | * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
|
159 | /* Experiment: Find hover-throttle */ |
167 | stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER |
160 | stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
168 | - 1) + throttle) / HOVERTHROTTLEFILTER; |
161 | stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER - 1) + throttle) / HOVERTHROTTLEFILTER; |
169 | |
162 | 170 | if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 |
|
Line 163... | Line 171... | ||
163 | if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 && 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; |