WebSVN - FlightCtrl - Rev 945 - /branches/V0.70d CRK HexaLotte/fc.c

/*#######################################################################################
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 für den privaten (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 sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt 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 excample: 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 <avr/io.h>

#include "main.h"
#include "eeprom.h"
#include "timer0.h"
#include "_Settings.h"
#include "analog.h"
#include "fc.h"
#include "uart.h"
#include "rc.h"
#include "twimaster.h"
#include "timer2.h"
#ifdef USE_KILLAGREG
#include "mm3.h"
#include "gps.h"
#endif
#ifdef USE_MK3MAG
#include "mk3mag.h"
#include "gps.h"
#endif
#include "led.h"

// gyro readings
int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
// gyro neutral readings
int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
int16_t StartNeutralRoll = 0, StartNeutralNick = 0;
// mean accelerations
int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;

// neutral acceleration readings
volatile int16_t NeutralAccX=0, NeutralAccY=0;
volatile float NeutralAccZ = 0;

// attitude gyro integrals
int32_t IntegralNick = 0,IntegralNick2 = 0;
int32_t IntegralRoll = 0,IntegralRoll2 = 0;
int32_t IntegralYaw = 0;
int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0;
int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0;
int32_t Reading_IntegralGyroYaw = 0;
int32_t MeanIntegralNick;
int32_t MeanIntegralRoll;

// attitude acceleration integrals
int32_t IntegralAccNick = 0, IntegralAccRoll = 0;
volatile int32_t Reading_Integral_Top = 0;

// compass course
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
volatile int16_t CompassCourse = -1;
volatile int16_t CompassOffCourse = 0;
volatile uint8_t CompassCalState = 0;
uint8_t FunnelCourse = 0;
uint16_t BadCompassHeading = 500;
int32_t YawGyroHeading;
int16_t YawGyroDrift;

int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0;

// MK flags
uint16_t Model_Is_Flying = 0;
volatile uint8_t MKFlags = 0;

int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L;

float Gyro_P_Factor;
float Gyro_I_Factor;

int16_t DiffNick, DiffRoll;

int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;

// setpoints for motors
#ifdef HEXAKOPTER
volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
#else
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
#endif

// stick values derived by rc channels readings
int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0;
int16_t GPS_Nick = 0, GPS_Roll = 0;

int16_t MaxStickNick = 0, MaxStickRoll = 0;
// stick values derived by uart inputs
int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;

int16_t ReadingHeight = 0;
int16_t SetPointHeight = 0;

int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0;

float Ki = FACTOR_I;

uint8_t Looping_Nick = 0, Looping_Roll = 0;
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;

fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};

/************************************************************************/
/* Creates numbeeps beeps at the speaker */
/************************************************************************/
void Beep(uint8_t numbeeps)
{
while(numbeeps--)
{
if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!
BeepTime = 100; // 0.1 second
Delay_ms(250); // blocks 250 ms as pause to next beep,
// this will block the flight control loop,
// therefore do not use this funktion if motors are running
}
}

/************************************************************************/
/* Neutral Readings */
/************************************************************************/
void SetNeutral(void)
{
NeutralAccX = 0;
NeutralAccY = 0;
NeutralAccZ = 0;
AdNeutralNick = 0;
AdNeutralRoll = 0;
AdNeutralYaw = 0;
FCParam.Yaw_PosFeedback = 0;
FCParam.Yaw_NegFeedback = 0;
CalibMean();
Delay_ms_Mess(100);
CalibMean();
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated?
{
if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
}
AdNeutralNick = AdValueGyrNick;
AdNeutralRoll = AdValueGyrRoll;
AdNeutralYaw = AdValueGyrYaw;
StartNeutralRoll = AdNeutralRoll;
StartNeutralNick = AdNeutralNick;
if(GetParamWord(PID_ACC_NICK) > 1023)
{
NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY;
NeutralAccZ = Current_AccZ;
}
else
{
NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
}
Reading_IntegralGyroNick = 0;
Reading_IntegralGyroNick2 = 0;
Reading_IntegralGyroRoll = 0;
Reading_IntegralGyroRoll2 = 0;
Reading_IntegralGyroYaw = 0;
Reading_GyroNick = 0;
Reading_GyroRoll = 0;
Reading_GyroYaw = 0;
Delay_ms_Mess(100);
StartAirPressure = AirPressure;
HeightD = 0;
Reading_Integral_Top = 0;
CompassCourse = CompassHeading;
BeepTime = 50;
TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L;
TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L;
ExternHeightValue = 0;
GPS_Nick = 0;
GPS_Roll = 0;
YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR;
YawGyroDrift = 0;
MKFlags |= MKFLAG_CALIBRATE;
}

/************************************************************************/
/* Averaging Measurement Readings */
/************************************************************************/
void Mean(void)
{
static int32_t tmpl,tmpl2;

// Get offset corrected gyro readings (~ to angular velocity)
Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw;
Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll;
Reading_GyroNick = AdValueGyrNick - AdNeutralNick;

// Acceleration Sensor
// sliding average sensor readings
Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L;
Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;

// sum sensor readings for later averaging
IntegralAccNick += ACC_AMPLIFY * AdValueAccNick;
IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll;

NaviAccNick += AdValueAccNick;
NaviAccRoll += AdValueAccRoll;
NaviCntAcc++;

// Yaw
// calculate yaw gyro integral (~ to rotation angle)
Reading_IntegralGyroYaw += Reading_GyroYaw;
YawGyroHeading += Reading_GyroYaw;
if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap
if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR;

// Coupling fraction
if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
{
tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L;
tmpl *= FCParam.Yaw_PosFeedback;
tmpl /= 4096L;
tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L;
tmpl2 *= FCParam.Yaw_PosFeedback;
tmpl2 /= 4096L;
if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1;
}
else tmpl = tmpl2 = 0;

// Roll
Reading_GyroRoll += tmpl;
Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L;
Reading_IntegralGyroRoll2 += Reading_GyroRoll;
Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll;
if(Reading_IntegralGyroRoll > TurnOver180Roll)
{
Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L);
Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
}
if(Reading_IntegralGyroRoll < -TurnOver180Roll)
{
Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L);
Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
}
if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000;
if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000;
if(BoardRelease == 10)
{
if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
}
else
{
if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
}
// Nick
Reading_GyroNick -= tmpl2;
Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
Reading_IntegralGyroNick2 += Reading_GyroNick;
Reading_IntegralGyroNick += Reading_GyroNick - AttitudeCorrectionNick;
if(Reading_IntegralGyroNick > TurnOver180Nick)
{
Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L);
Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
}
if(Reading_IntegralGyroNick < -TurnOver180Nick)
{
Reading_IntegralGyroNick = (TurnOver180Nick - 25000L);
Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
}
if(AdValueGyrNick < 15) Reading_GyroNick = -1000;
if(AdValueGyrNick < 7) Reading_GyroNick = -2000;
if(BoardRelease == 10)
{
if(AdValueGyrNick > 1010) Reading_GyroNick = +1000;
if(AdValueGyrNick > 1017) Reading_GyroNick = +2000;
}
else
{
if(AdValueGyrNick > 2020) Reading_GyroNick = +1000;
if(AdValueGyrNick > 2034) Reading_GyroNick = +2000;
}

// start ADC again to capture measurement values for the next loop
ADC_Enable();

IntegralYaw = Reading_IntegralGyroYaw;
IntegralNick = Reading_IntegralGyroNick;
IntegralRoll = Reading_IntegralGyroRoll;
IntegralNick2 = Reading_IntegralGyroNick2;
IntegralRoll2 = Reading_IntegralGyroRoll2;

if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll)
{
if(Reading_GyroNick > 200) Reading_GyroNick += 4 * (Reading_GyroNick - 200);
else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200);
if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200);
else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200);
}
}

/************************************************************************/
/* Averaging Measurement Readings for Calibration */
/************************************************************************/
void CalibMean(void)
{
if(BoardRelease >= 13) SearchGyroOffset();
// stop ADC to avoid changing values during calculation
ADC_Disable();

Reading_GyroNick = AdValueGyrNick;
Reading_GyroRoll = AdValueGyrRoll;
Reading_GyroYaw = AdValueGyrYaw;

Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick;
Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
Mean_AccTop = (int32_t)AdValueAccTop;
// start ADC (enables internal trigger so that the ISR in analog.c
// updates the readings once)
ADC_Enable();

TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L;
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
}

/************************************************************************/
/* Transmit Motor Data via I2C */
/************************************************************************/
void SendMotorData(void)
{
if(!(MKFlags & MKFLAG_MOTOR_RUN))
{
#ifdef HEXAKOPTER
Motor_RearLeft = 0;
Motor_FrontLeft = 0;
Motor_RearRight = 0;
Motor_FrontRight = 0;
Motor_Right = 0;
Motor_Left = 0;
if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0];
if(MotorTest[1]) Motor_RearLeft = Motor_RearRight = MotorTest[1];
if(MotorTest[2]) Motor_Left = MotorTest[2];
if(MotorTest[3]) Motor_Right = MotorTest[3];
#else
Motor_Rear = 0;
Motor_Front = 0;
Motor_Right = 0;
Motor_Left = 0;
if(MotorTest[0]) Motor_Front = MotorTest[0];
if(MotorTest[1]) Motor_Rear = MotorTest[1];
if(MotorTest[2]) Motor_Left = MotorTest[2];
if(MotorTest[3]) Motor_Right = MotorTest[3];
#endif
MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off
}

//Start I2C Interrupt Mode
twi_state = TWI_STATE_MOTOR_TX;
I2C_Start();
}

/************************************************************************/
/* 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_MM(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;}
#define CHK_POTI(b,a) { 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;}
CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight);
CHK_POTI_MM(FCParam.Height_D,ParamSet.Height_D,0,100);
CHK_POTI_MM(FCParam.Height_P,ParamSet.Height_P,0,100);
CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect);
CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect);
CHK_POTI_MM(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I);
CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor);
CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1);
CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2);
CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3);
CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4);
CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5);
CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6);
CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7);
CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8);
CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl);
CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit);
CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback);
CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback);
CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability);
CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255);
CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255);
CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl);
CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain);
CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP);
CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI);
CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD);
CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC);
CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl);
Ki = (float) FCParam.I_Factor * FACTOR_I;
}
}

void SetCompassCalState(void)
{
static uint8_t stick = 1;

// if nick is centered or top set stick to zero
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0;
// if nick is down trigger to next cal state
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick)
{
stick = 1;
CompassCalState++;
if(CompassCalState < 5) Beep(CompassCalState);
else BeepTime = 1000;
}
}

/************************************************************************/
/* MotorControl */
/************************************************************************/
void MotorControl(void)
{
int16_t MotorValue, pd_result, h, tmp_int;
int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction;
static int32_t SumNick = 0, SumRoll = 0;
static int32_t SetPointYaw = 0;
static int32_t IntegralErrorNick = 0;
static int32_t IntegralErrorRoll = 0;
static uint16_t RcLostTimer;
static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
static uint8_t HeightControlActive = 0;
static int16_t HeightControlGas = 0;
static int8_t TimerDebugOut = 0;
static uint16_t UpdateCompassCourse = 0;
static int32_t CorrectionNick, CorrectionRoll;

Mean();
GRN_ON;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// determine gas value
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
GasMixFraction = StickGas;
if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 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)
{
BeepTime = 15000; // 1.5 seconds
BeepModulation = 0x0C00;
}
}
if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
else // rc lost countdown finished
{
MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData()
}
RED_ON; // set red led
if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken
{
GasMixFraction = ParamSet.EmergencyGas; // set emergency gas
MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing
// set neutral rc inputs
PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0;
PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0;
PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0;
PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
}
else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData()
} // eof RC_Quality < 120
else
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// RC-signal is good
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(RC_Quality > 140)
{
MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing
// reset emergency timer
RcLostTimer = ParamSet.EmergencyGasDuration * 50;
if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) )
{
if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
}
if(Model_Is_Flying < 256)
{
SumNick = 0;
SumRoll = 0;
StickYaw = 0;
if(Model_Is_Flying == 250)
{
UpdateCompassCourse = 1;
Reading_IntegralGyroYaw = 0;
SetPointYaw = 0;
}
}
else MKFlags |= (MKFLAG_FLY); // set fly flag

if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
//PPM24-Extension
if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--;
if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
//limit poti values
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
//PPM24-Extension
if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;

// if motors are off and the gas stick is in the upper position
if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) )
{
// and if the yaw stick is in the leftmost position
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// calibrate the neutral readings of all attitude sensors
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
{
// gas/yaw joystick is top left
// _________
// |x |
// | |
// | |
// | |
// | |
// ¯¯¯¯¯¯¯¯¯
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
{
delay_neutral = 0;
GRN_OFF;
Model_Is_Flying = 0;
// check roll/nick stick position
// if nick stick is top or roll stick is left or right --> change parameter setting
// according to roll/nick stick position
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
{
uint8_t setting = 1; // default
// nick/roll joystick
// _________
// |2 3 4|
// | |
// |1 5|
// | |
// | |
// ¯¯¯¯¯¯¯¯¯
// roll stick leftmost and nick stick centered --> setting 1
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1;
// roll stick leftmost and nick stick topmost --> setting 2
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2;
// roll stick centered an nick stick topmost --> setting 3
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3;
// roll stick rightmost and nick stick topmost --> setting 4
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4;
// roll stick rightmost and nick stick centered --> setting 5
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5;
// update active parameter set in eeprom
SetActiveParamSet(setting);
ParamSet_ReadFromEEProm(GetActiveParamSet());
SetNeutral();
Beep(GetActiveParamSet());
}
else
{
if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE))
{
// if roll stick is centered and nick stick is down
if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70)
{
// nick/roll joystick
// _________
// | |
// | |
// | |
// | |
// | x |
// ¯¯¯¯¯¯¯¯¯
// enable calibration state of compass
CompassCalState = 1;
BeepTime = 1000;
}
else // nick and roll are centered
{
ParamSet_ReadFromEEProm(GetActiveParamSet());
SetNeutral();
Beep(GetActiveParamSet());
}
}
else // nick and roll are centered
{
ParamSet_ReadFromEEProm(GetActiveParamSet());
SetNeutral();
Beep(GetActiveParamSet());
}
}
}
}
// and if the yaw stick is in the rightmost position
// save the ACC neutral setting to eeprom
else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
{
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
{
delay_neutral = 0;
GRN_OFF;
SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid
Model_Is_Flying = 0;
SetNeutral();
// Save ACC neutral settings to eeprom
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ);
Beep(GetActiveParamSet());
}
}
else delay_neutral = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// gas stick is down
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85)
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// and yaw stick is rightmost --> start motors
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
{
if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
{
delay_startmotors = 0; // do not repeat if once executed
Model_Is_Flying = 1;
MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START
SetPointYaw = 0;
Reading_IntegralGyroYaw = 0;
Reading_IntegralGyroNick = 0;
Reading_IntegralGyroRoll = 0;
Reading_IntegralGyroNick2 = IntegralNick;
Reading_IntegralGyroRoll2 = IntegralRoll;
SumNick = 0;
SumRoll = 0;
}
}
else delay_startmotors = 0; // reset delay timer if sticks are not in this position
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// and yaw stick is leftmost --> stop motors
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
{
if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
{
delay_stopmotors = 0; // do not repeat if once executed
Model_Is_Flying = 0;
MKFlags &= ~(MKFLAG_MOTOR_RUN);
}
}
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-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC
{
int tmp_int;
ParameterMapping(); // remapping params (online poti replacement)
// calculate Stick inputs by rc channels (P) and changing of rc channels (D)
StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4;
StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D;
StickNick -= (GPS_Nick);

StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
StickRoll -= (GPS_Roll);

// direct mapping of yaw and gas
StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers

// update gyro control loop factors
Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN);
Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN);

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Digital Control via DubWise
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#define KEY_VALUE (FCParam.ExternalControl * 4) // step width
if(DubWiseKeys[1]) BeepTime = 10;
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE;
else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE;
else tmp_int = 0;
ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8;
if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE;
else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
else tmp_int = 0;
ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;

if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else
if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0;
if(DubWiseKeys[0] & 2) ExternHeightValue++;
if(DubWiseKeys[0] & 16) ExternHeightValue--;

StickNick += (STICK_GAIN * ExternStickNick) / 8;
StickRoll += (STICK_GAIN * ExternStickRoll) / 8;
StickYaw += (STICK_GAIN * ExternStickYaw);

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ Analog control via serial communication
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128)
{
StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.Stick_P;
StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
StickYaw += ExternControl.Yaw;
ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
}
if(StickGas < 0) StickGas = 0;

// disable I part of gyro control feedback
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0;
// avoid negative scaling factors
if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;

// update max stick positions for nick and roll

if(abs(StickNick / STICK_GAIN) > MaxStickNick)
{
MaxStickNick = abs(StickNick)/STICK_GAIN;
if(MaxStickNick > 100) MaxStickNick = 100;
}
else MaxStickNick--;
if(abs(StickRoll / STICK_GAIN) > MaxStickRoll)
{
MaxStickRoll = abs(StickRoll)/STICK_GAIN;
if(MaxStickRoll > 100) MaxStickRoll = 100;
}
else MaxStickRoll--;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1;
else
{
if(Looping_Left) // Hysteresis
{
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
}
}
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
else
{
if(Looping_Right) // Hysteresis
{
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
}
}

if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
else
{
if(Looping_Top) // Hysteresis
{
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
}
}
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
else
{
if(Looping_Down) // Hysteresis
{
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
}
}

if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0;
if(Looping_Top || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0;
} // End of new RC-Values or Emergency Landing

if(Looping_Roll || Looping_Nick)
{
if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit;
}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// in case of emergency landing
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// set all inputs to save values
if(MKFlags & MKFLAG_EMERGENCY_LANDING)
{
StickYaw = 0;
StickNick = 0;
StickRoll = 0;
Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN);
Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN);
Looping_Roll = 0;
Looping_Nick = 0;
MaxStickNick = 0;
MaxStickRoll = 0;
}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Trim Gyro-Integrals to ACC-Signals
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#define BALANCE_NUMBER 256L
// sum for averaging
MeanIntegralNick += IntegralNick;
MeanIntegralRoll += IntegralRoll;

if(Looping_Nick || Looping_Roll) // if looping in any direction
{
// reset averaging for acc and gyro integral as well as gyro integral acc correction
MeasurementCounter = 0;

IntegralAccNick = 0;
IntegralAccRoll = 0;

MeanIntegralNick = 0;
MeanIntegralRoll = 0;

Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;

AttitudeCorrectionNick = 0;
AttitudeCorrectionRoll = 0;
}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll) // if not lopping in any direction
{
int32_t tmp_long, tmp_long2;
// determine the deviation of gyro integral from averaged acceleration sensor
tmp_long = (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick);
tmp_long /= 16;
tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll);
tmp_long2 /= 16;

if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands
{
tmp_long /= 3;
tmp_long2 /= 3;
}
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active
{
tmp_long /= 3;
tmp_long2 /= 3;
}

#define BALANCE 32
// limit correction effect
if(tmp_long > BALANCE) tmp_long = BALANCE;
if(tmp_long < -BALANCE) tmp_long =-BALANCE;
if(tmp_long2 > BALANCE) tmp_long2 = BALANCE;
if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE;
// correct current readings
Reading_IntegralGyroNick -= tmp_long;
Reading_IntegralGyroRoll -= tmp_long2;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// MeasurementCounter is incremented in the isr of analog.c
if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
{
static int16_t cnt = 0;
static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
static int32_t MeanIntegralNick_old, MeanIntegralRoll_old;

// if not lopping in any direction (this should be alwais the case,
// because the Measurement counter is reset to 0 if looping in any direction is active.)
if(!Looping_Nick && !Looping_Roll && !FunnelCourse)
{
// Calculate mean value of the gyro integrals
MeanIntegralNick /= BALANCE_NUMBER;
MeanIntegralRoll /= BALANCE_NUMBER;

// Calculate mean of the acceleration values
IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER;
IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER;

// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral
IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick);
CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim;
AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral
IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim;
AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER;

if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
{
AttitudeCorrectionNick /= 2;
AttitudeCorrectionRoll /= 2;
}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gyro-Drift ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor)
IntegralErrorNick = IntegralNick2 - IntegralNick;
Reading_IntegralGyroNick2 -= IntegralErrorNick;
// deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor)
IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
Reading_IntegralGyroRoll2 -= IntegralErrorRoll;

if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++;
if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--;
YawGyroDrift = 0;
/*
DebugOut.Analog[17] = IntegralAccNick / 26;
DebugOut.Analog[18] = IntegralAccRoll / 26;
DebugOut.Analog[19] = IntegralErrorNick;// / 26;
DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
DebugOut.Analog[21] = MeanIntegralNick / 26;
DebugOut.Analog[22] = MeanIntegralRoll / 26;
//DebugOut.Analog[28] = CorrectionNick;
DebugOut.Analog[29] = CorrectionRoll;
DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
*/

#define ERROR_LIMIT (BALANCE_NUMBER * 4)
#define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
#define MOVEMENT_LIMIT 20000
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralErrorNick) / 4096;
CorrectionNick = 0;
if(labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT)
{
if(IntegralErrorNick > ERROR_LIMIT2)
{
if(last_n_p)
{
cnt += labs(IntegralErrorNick) / ERROR_LIMIT2;
CorrectionNick = IntegralErrorNick / 8;
if(CorrectionNick > 5000) CorrectionNick = 5000;
AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER;
}
else last_n_p = 1;
}
else last_n_p = 0;
if(IntegralErrorNick < -ERROR_LIMIT2)
{
if(last_n_n)
{
cnt += labs(IntegralErrorNick) / ERROR_LIMIT2;
CorrectionNick = IntegralErrorNick / 8;
if(CorrectionNick < -5000) CorrectionNick = -5000;
AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER;
}
else last_n_n = 1;
}
else last_n_n = 0;
}
else
{
cnt = 0;
BadCompassHeading = 1000;
}
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
// correct Gyro Offsets
if(IntegralErrorNick > ERROR_LIMIT) AdNeutralNick += cnt;
if(IntegralErrorNick < -ERROR_LIMIT) AdNeutralNick -= cnt;

// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralErrorNick) / 4096;
CorrectionRoll = 0;
if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
{
if(IntegralErrorRoll > ERROR_LIMIT2)
{
if(last_r_p)
{
cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
CorrectionRoll = IntegralErrorRoll / 8;
if(CorrectionRoll > 5000) CorrectionRoll = 5000;
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
}
else last_r_p = 1;
}
else last_r_p = 0;
if(IntegralErrorRoll < -ERROR_LIMIT2)
{
if(last_r_n)
{
cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
CorrectionRoll = IntegralErrorRoll / 8;
if(CorrectionRoll < -5000) CorrectionRoll = -5000;
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
}
else last_r_n = 1;
}
else last_r_n = 0;
}
else
{
cnt = 0;
BadCompassHeading = 1000;
}
// correct Gyro Offsets
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt;
if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt;
/*
DebugOut.Analog[27] = CorrectionRoll;
DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
*/
}
else // looping is active
{
AttitudeCorrectionRoll = 0;
AttitudeCorrectionNick = 0;
FunnelCourse = 0;
}

// if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction
if(!Gyro_I_Factor)
{
AttitudeCorrectionRoll = 0;
AttitudeCorrectionNick = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
MeanIntegralNick_old = MeanIntegralNick;
MeanIntegralRoll_old = MeanIntegralRoll;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
// reset variables used for averaging
IntegralAccNick = 0;
IntegralAccRoll = 0;
MeanIntegralNick = 0;
MeanIntegralRoll = 0;
MeasurementCounter = 0;
} // end of averaging

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Yawing
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickYaw) > 15 ) // yaw stick is activated
{
BadCompassHeading = 1000;
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX))
{
UpdateCompassCourse = 1;
}
}
// exponential stick sensitivity in yawring rate
tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx²
tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
SetPointYaw = tmp_int;
// trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw)
Reading_IntegralGyroYaw -= tmp_int;
// limit the effect
if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Compass
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// compass code is used if Compass option is selected
if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE))
{
int16_t w, v, r,correction, error;

if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) )
{
SetCompassCalState();
#ifdef USE_KILLAGREG
MM3_Calibrate();
#endif
}
else
{
#ifdef USE_KILLAGREG
static uint8_t updCompass = 0;
if (!updCompass--)
{
updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
MM3_Heading();
}
#endif

// get maximum attitude angle
w = abs(IntegralNick / 512);
v = abs(IntegralRoll / 512);
if(v > w) w = v;
correction = w / 8 + 1;
// calculate the deviation of the yaw gyro heading and the compass heading
if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180;

if(!BadCompassHeading && w < 25)
{
YawGyroDrift += error;
if(UpdateCompassCourse)
{
BeepTime = 200;
CompassCourse = (YawGyroHeading / YAW_GYRO_DEG_FACTOR);
UpdateCompassCourse = 0;
}
}
YawGyroHeading += (error * 8) / correction;
w = (w * FCParam.CompassYawEffect) / 32;
w = FCParam.CompassYawEffect - w;
if(w >= 0)
{
if(!BadCompassHeading)
{
v = 64 + (MaxStickNick + MaxStickRoll) / 8;
// calc course deviation
r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180;
v = (r * w) / v; // align to compass course
// limit yaw rate
w = 3 * FCParam.CompassYawEffect;
if (v > w) v = w;
else if (v < -w) v = -w;
Reading_IntegralGyroYaw += v;
}
else
{ // wait a while
BadCompassHeading--;
}
}
else
{ // ignore compass at extreme attitudes for a while
BadCompassHeading = 500;
}
}
}

#if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// GPS
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
{
GPS_Main();
MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START);
}
else
{
GPS_Nick = 0;
GPS_Roll = 0;
}
#endif

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Debugwerte zuordnen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!TimerDebugOut--)
{
TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFactor;
DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor;
DebugOut.Analog[2] = Mean_AccNick;
DebugOut.Analog[3] = Mean_AccRoll;
DebugOut.Analog[4] = Reading_GyroYaw;
DebugOut.Analog[5] = ReadingHeight;
DebugOut.Analog[6] = (Reading_Integral_Top / 512);
// DebugOut.Analog[8] = CompassHeading;
DebugOut.Analog[8] = RC_Quality;
DebugOut.Analog[9] = UBat;

#ifdef HEXAKOPTER
DebugOut.Analog[10] = Motor_FrontLeft;
DebugOut.Analog[11] = Motor_FrontRight;
DebugOut.Analog[12] = Motor_RearLeft;
DebugOut.Analog[13] = Motor_RearRight;
DebugOut.Analog[14] = Motor_Left;
DebugOut.Analog[15] = Motor_Right;
#else
DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR;

DebugOut.Analog[12] = Motor_Front;
DebugOut.Analog[13] = Motor_Rear;
DebugOut.Analog[14] = Motor_Left;
DebugOut.Analog[15] = Motor_Right;
#endif

DebugOut.Analog[16] = Mean_AccTop;

DebugOut.Analog[20] = ServoValue;

DebugOut.Analog[30] = GPS_Nick;
DebugOut.Analog[31] = GPS_Roll;

/* DebugOut.Analog[16] = motor_rx[0];
DebugOut.Analog[17] = motor_rx[1];
DebugOut.Analog[18] = motor_rx[2];
DebugOut.Analog[19] = motor_rx[3];
DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
DebugOut.Analog[20] /= 14;
DebugOut.Analog[21] = motor_rx[4];
DebugOut.Analog[22] = motor_rx[5];
DebugOut.Analog[23] = motor_rx[6];
DebugOut.Analog[24] = motor_rx[7];
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];

DebugOut.Analog[9] = Reading_GyroNick;
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] = GasMixFraction;
DebugOut.Analog[3] = HeightD * 32;
DebugOut.Analog[4] = HeightControlGas;
*/
}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

if(Looping_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor;
else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * Gyro_P_Factor;
if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;

DebugOut.Analog[21] = Reading_GyroNick;
DebugOut.Analog[22] = Reading_GyroRoll;

// limit control feedback
#define MAX_SENSOR (4096 * STICK_GAIN)
if(Reading_GyroNick > MAX_SENSOR) Reading_GyroNick = MAX_SENSOR;
if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -MAX_SENSOR;
if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR;
if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR;
if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR;
if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Height Control
// The height control algorithm reduces the gas but does not increase the gas.
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

GasMixFraction *= STICK_GAIN;

// If height control is activated and no emergency landing is active
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) )
{
int tmp_int;
// if height control is activated by an rc channel
if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
{ // check if parameter is less than activation threshold
if(FCParam.MaxHeight < 50)
{
SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading
HeightControlActive = 0; // disable height control
}
else HeightControlActive = 1; // enable height control
}
else // no switchable height control
{
SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
HeightControlActive = 1;
}
// get current height
h = ReadingHeight;
// if current height is above the setpoint reduce gas
if((h > SetPointHeight) && HeightControlActive)
{
// GasMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC
// height difference -> P control part
h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN);
h = GasMixFraction - h; // reduce gas
// height gradient --> D control part
//h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part
h -= (HeightD) / (8 / STICK_GAIN); // D control part
// acceleration sensor effect
tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN);
if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN;
else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN);
h -= tmp_int;
// update height control gas
HeightControlGas = (HeightControlGas*15 + h) / 16;
// limit gas reduction
if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN)
{
if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN;
// allows landing also if gas stick is reduced below min gas on height control
if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction;
}
// limit gas to stick setting
if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction;
GasMixFraction = HeightControlGas;
}
}
// limit gas to parameter setting
if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Mixer and PI-Controller
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DebugOut.Analog[7] = GasMixFraction;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Yaw-Fraction
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller
#define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value
// limit YawMixFraction
if(GasMixFraction > MIN_YAWGAS)
{
if(YawMixFraction > (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2;
if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2);
}
else
{
if(YawMixFraction > (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2;
if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2);
}
tmp_int = ParamSet.Gas_Max * STICK_GAIN;
if(YawMixFraction > ((tmp_int - GasMixFraction))) YawMixFraction = ((tmp_int - GasMixFraction));
if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction));

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Nick-Axis
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffNick = Reading_GyroNick - StickNick; // get difference
if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control
else SumNick += DiffNick; // I-part for head holding
if(SumNick > (STICK_GAIN * 16000L)) SumNick = (STICK_GAIN * 16000L);
if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L);
pd_result = DiffNick + Ki * SumNick; // PI-controller for nick

tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64;
if(pd_result > tmp_int) pd_result = tmp_int;
if(pd_result < -tmp_int) pd_result = -tmp_int;

NickMixFraction = pd_result;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Roll-Axis
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffRoll = Reading_GyroRoll - StickRoll; // get difference
if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control
else SumRoll += DiffRoll; // I-part for head holding
if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L);
if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L);
pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64;
if(pd_result > tmp_int) pd_result = tmp_int;
if(pd_result < -tmp_int) pd_result = -tmp_int;

RollMixFraction = pd_result;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Calculate Motor Mixes
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#ifdef HEXAKOPTER
// Motor FrontLeft
MotorValue = GasMixFraction
+ NickMixFraction
+ RollMixFraction/2
- YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_FrontLeft = MotorValue;

// Motor FrontRight
MotorValue = GasMixFraction
+ NickMixFraction
- RollMixFraction/2
+ YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_FrontRight = MotorValue;

// Motor RearLeft
MotorValue = GasMixFraction
- NickMixFraction
+ RollMixFraction/2
- YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_RearLeft = MotorValue;

// Motor RearRight
MotorValue = GasMixFraction
- NickMixFraction
- RollMixFraction/2
+ YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_RearRight= MotorValue;

// Motor Left
MotorValue = GasMixFraction
+ RollMixFraction
+ YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_Left = MotorValue;

// Motor Right
MotorValue = GasMixFraction
- RollMixFraction
- YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_Right = MotorValue;

#else

// Motor Front
MotorValue = GasMixFraction + NickMixFraction + YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_Front = MotorValue;

// Motor Rear
MotorValue = GasMixFraction - NickMixFraction + YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_Rear = MotorValue;

// Motor Left
MotorValue = GasMixFraction + RollMixFraction - YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_Left = MotorValue;

// Motor Right
MotorValue = GasMixFraction - RollMixFraction - YawMixFraction; // Mixer
MotorValue /= STICK_GAIN;
if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max;
else if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min;
Motor_Right = MotorValue;
#endif
}

Subversion Repositories FlightCtrl

(root)/branches/V0.70d CRK HexaLotte/fc.c - Rev 945