WebSVN - FlightCtrl - Diff - Rev 793 and 800 - /branches/V0.68d Code Redesign killagreg/fc.c



/************************************************************************/
/*  Maps the parameter to poti values                                   */
/************************************************************************/
void ParameterMapping(void)
{
        if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok
        // else the last updated values are used
        {
                 //update poti values by rc-signals
                #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);

        ThrustMixFraction = StickThrust;
    if(ThrustMixFraction < 0) ThrustMixFraction = 0;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// RC-signal is bad
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
 
 
 
 
        if(RC_Quality < 120)  // the rc-frame signal is not reveived or noisy
        {
                if(!PcAccess) // if also no PC-Access via UART
                {
                        if(BeepModulation == 0xFFFF)
                        {

                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
                }
                else MotorsOn = 0; // switch of all motors
        } // eof RC_Quality < 120
        else
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// RC-signal is good
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        if(RC_Quality > 150)
        {
                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
                // reset emergency timer
                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
                if(ThrustMixFraction > 40)

                                }
                        }
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
                }
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
        } // eof RC_Quality > 150
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// new values from RC
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
        {

                DebugOut.Analog[4]  = Reading_GyroYaw;
                DebugOut.Analog[5]  = ReadingHeight;
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
                DebugOut.Analog[8]  = CompassHeading;
                DebugOut.Analog[9]  = UBat;
                DebugOut.Analog[10] = RC_Quality;
                //DebugOut.Analog[11] = RC_Quality;
                DebugOut.Analog[16] = Mean_AccTop;

 
                /*    DebugOut.Analog[16] = motor_rx[0];
                DebugOut.Analog[17] = motor_rx[1];

                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];

 
                DebugOut.Analog[9]  = Reading_GyroPitch;
                DebugOut.Analog[9]  = SetPointHeight;
 
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
 
                DebugOut.Analog[10] = FCParam.Gyro_I;
                DebugOut.Analog[10] = ParamSet.Gyro_I;
                DebugOut.Analog[9]  = CompassOffCourse;
                DebugOut.Analog[10] = ThrustMixFraction;

Rev 793	Rev 800
Line 385...	Line 385...
385	/************************************************************************/	385	/************************************************************************/
386	/* Maps the parameter to poti values */	386	/* Maps the parameter to poti values */
387	/************************************************************************/	387	/************************************************************************/
388	void ParameterMapping(void)	388	void ParameterMapping(void)
389	{	389	{
390	if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok	390	if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok
391	// else the last updated values are used	391	// else the last updated values are used
392	{	392	{
393	//update poti values by rc-signals	393	//update poti values by rc-signals
394	#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}	394	#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
395	CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);	395	CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);
Line 447...	Line 447...
447	ThrustMixFraction = StickThrust;	447	ThrustMixFraction = StickThrust;
448	if(ThrustMixFraction < 0) ThrustMixFraction = 0;	448	if(ThrustMixFraction < 0) ThrustMixFraction = 0;
449	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	449	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
450	// RC-signal is bad	450	// RC-signal is bad
451	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	451	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
452	// SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation	-
453	// of a channel to previous frame is less than 1% the SenderOkay is incremented by 10.	-
454	// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80	-
455	// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame	-
456	// the main loop is running 11 times that decrements the SenderOkay by 11.	-
457	if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy	452	if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy
458	{	453	{
459	if(!PcAccess) // if also no PC-Access via UART	454	if(!PcAccess) // if also no PC-Access via UART
460	{	455	{
461	if(BeepModulation == 0xFFFF)	456	if(BeepModulation == 0xFFFF)
462	{	457	{
Line 482...	Line 477...
482	PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;	477	PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
483	PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;	478	PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
484	PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;	479	PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
485	}	480	}
486	else MotorsOn = 0; // switch of all motors	481	else MotorsOn = 0; // switch of all motors
487	} // eof SenderOkay < 100	482	} // eof RC_Quality < 120
488	else	483	else
489	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	484	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
490	// RC-signal is good	485	// RC-signal is good
491	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	486	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492	if(SenderOkay > 140)	487	if(RC_Quality > 150)
493	{	488	{
494	EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay	489	EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
495	// reset emergency timer	490	// reset emergency timer
496	RcLostTimer = ParamSet.EmergencyThrustDuration * 50;	491	RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
497	if(ThrustMixFraction > 40)	492	if(ThrustMixFraction > 40)
Line 637...	Line 632...
637	}	632	}
638	}	633	}
639	else delay_stopmotors = 0; // reset delay timer if sticks are not in this position	634	else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
640	}	635	}
641	// remapping of paameters only if the signal rc-sigbnal conditions are good	636	// remapping of paameters only if the signal rc-sigbnal conditions are good
642	} // eof SenderOkay > 140	637	} // eof RC_Quality > 150
643	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	638	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
644	// new values from RC	639	// new values from RC
645	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	640	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
646	if(!NewPpmData-- \|\| EmergencyLanding) // NewData = 0 means new data from RC	641	if(!NewPpmData-- \|\| EmergencyLanding) // NewData = 0 means new data from RC
647	{	642	{
Line 1081...	Line 1076...
1081	DebugOut.Analog[4] = Reading_GyroYaw;	1076	DebugOut.Analog[4] = Reading_GyroYaw;
1082	DebugOut.Analog[5] = ReadingHeight;	1077	DebugOut.Analog[5] = ReadingHeight;
1083	DebugOut.Analog[6] = (Reading_Integral_Top / 512);	1078	DebugOut.Analog[6] = (Reading_Integral_Top / 512);
1084	DebugOut.Analog[8] = CompassHeading;	1079	DebugOut.Analog[8] = CompassHeading;
1085	DebugOut.Analog[9] = UBat;	1080	DebugOut.Analog[9] = UBat;
1086	DebugOut.Analog[10] = SenderOkay;	1081	DebugOut.Analog[10] = RC_Quality;
-		1082	//DebugOut.Analog[11] = RC_Quality;
1087	DebugOut.Analog[16] = Mean_AccTop;	1083	DebugOut.Analog[16] = Mean_AccTop;
Line 1088...	Line 1084...
1088		1084
1089	/* DebugOut.Analog[16] = motor_rx[0];	1085	/* DebugOut.Analog[16] = motor_rx[0];
1090	DebugOut.Analog[17] = motor_rx[1];	1086	DebugOut.Analog[17] = motor_rx[1];
Line 1099...	Line 1095...
1099	DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];	1095	DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
Line 1100...	Line 1096...
1100		1096
1101	DebugOut.Analog[9] = Reading_GyroPitch;	1097	DebugOut.Analog[9] = Reading_GyroPitch;
1102	DebugOut.Analog[9] = SetPointHeight;	1098	DebugOut.Analog[9] = SetPointHeight;
1103	DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;	-
-		1099	DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
1104	DebugOut.Analog[11] = CompassCourse;	1100
1105	DebugOut.Analog[10] = FCParam.Gyro_I;	1101	DebugOut.Analog[10] = FCParam.Gyro_I;
1106	DebugOut.Analog[10] = ParamSet.Gyro_I;	1102	DebugOut.Analog[10] = ParamSet.Gyro_I;
1107	DebugOut.Analog[9] = CompassOffCourse;	1103	DebugOut.Analog[9] = CompassOffCourse;
1108	DebugOut.Analog[10] = ThrustMixFraction;	1104	DebugOut.Analog[10] = ThrustMixFraction;

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(root)/branches/V0.68d Code Redesign killagreg/fc.c - Rev 793 → 800