Subversion Repositories FlightCtrl

#include <stdlib.h>
#include <avr/io.h>
#include "eeprom.h"
#include "flight.h"
#include "output.h"

// Necessary for external control and motor test
#include "uart0.h"

// for scope debugging
// #include "rc.h"

#include "timer2.h"
#include "attitude.h"
#include "controlMixer.h"

#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}

/*
 * target-directions integrals.
 */
int32_t target[3];

/*
 * Error integrals.
 */
int32_t error[3];

uint8_t pFactor[3];
uint8_t dFactor[3];
uint8_t iFactor[3];
uint8_t reverse[3];
int32_t IPart[3] = { 0, 0, 0 };

int16_t servos[MAX_SERVOS];

/************************************************************************/
/*  Neutral Readings                                                    */
/************************************************************************/
#define CONTROL_CONFIG_SCALE 10

void flight_setGround(void) {
  IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0;
  target[PITCH] = attitude[PITCH];
  target[ROLL] = attitude[ROLL];
  target[YAW] = attitude[YAW];
}

void switchToFlightMode(FlightMode_t flightMode) {
  if (flightMode == FLIGHT_MODE_MANUAL) {
    pFactor[PITCH] = 0;
    pFactor[ROLL] = 0;
    pFactor[YAW] = 0;
  } else if (flightMode == FLIGHT_MODE_RATE) {
    pFactor[PITCH] = 0; //staticParams...;
    pFactor[ROLL] = 0; //staticParams...;
    pFactor[YAW] = 0; //staticParams...;
  }
  if (flightMode == FLIGHT_MODE_MANUAL || FLIGHT_MODE_RATE) {
    iFactor[PITCH] = 0;
    iFactor[ROLL] = 0;
    iFactor[YAW] = 0;
  } else if (flightMode == FLIGHT_MODE_ANGLES) {
    iFactor[PITCH] = 0; //staticParams...;
    iFactor[ROLL] = 0; //staticParams...;
    iFactor[YAW] = 0; //staticParams...;
    // When entering this mode, we want to avoid jerks from accumulated uncorrected errors.
    target[PITCH] = attitude[PITCH];
    target[ROLL] = attitude[ROLL];
    target[YAW] = attitude[YAW];
  }

  dFactor[PITCH] = staticParams.gyroPitchD / CONTROL_CONFIG_SCALE;
  dFactor[ROLL] = staticParams.gyroRollD / CONTROL_CONFIG_SCALE;
  dFactor[YAW] = staticParams.gyroYawD / CONTROL_CONFIG_SCALE;

  // TODO: Set reverse also.
}

/************************************************************************/
/*  Main Flight Control                                                 */
/************************************************************************/
void flight_control(void) {
  // Mixer Fractions that are combined for Motor Control
  int16_t throttleTerm, term[3];

  // PID controller variables
  int16_t PDPart[3];

  static int8_t debugDataTimer = 1;

  // High resolution motor values for smoothing of PID motor outputs
  // static int16_t outputFilters[MAX_OUTPUTS];

  uint8_t axis;

  // TODO: Check modern version.
  // calculateFlightAttitude();
  // TODO: Check modern version.
  // controlMixer_update();
  throttleTerm = controls[CONTROL_THROTTLE];

  // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway.
  target[PITCH] += controls[CONTROL_ELEVATOR] * staticParams.stickIElevator;
  target[ROLL] += controls[CONTROL_AILERONS] * staticParams.stickIAilerons;
  target[YAW] += controls[CONTROL_RUDDER] * staticParams.stickIRudder;

  for (axis = PITCH; axis <= YAW; axis++) {
    if (target[axis] > OVER180) {
      target[axis] -= OVER360;
    } else if (attitude[axis] <= -OVER180) {
      attitude[axis] += OVER360;
    }

    if (reverse[axis])
      error[axis] = attitude[axis] + target[axis];
    else
      error[axis] = attitude[axis] - target[axis];
    if (error[axis] > OVER180) {
      error[axis] -= OVER360;
    } else if (error[axis] <= -OVER180) {
      error[axis] += OVER360;
    }

    /************************************************************************/
    /* Calculate control feedback from angle (gyro integral)                */
    /* and angular velocity (gyro signal)                                   */
    /************************************************************************/
    PDPart[axis] = (((int32_t) rate_PID[axis] * pFactor[axis]) >> 6)
        + ((differential[axis] * (int16_t) dFactor[axis]) >> 4);
    if (reverse[axis])
      PDPart[axis] = -PDPart[axis];

    int16_t anglePart = (error[axis] * iFactor[axis]) >> 10;
    if (reverse[axis])
      PDPart[axis] += anglePart;
    else
      PDPart[axis] -= anglePart;

    // Add I parts here... these are integrated errors.
    // When an error wraps, actually its I part should be negated or something...

    term[axis] = controls[axis] + PDPart[axis] + IPart[axis];
  }

  debugOut.analog[12] = term[PITCH];
  debugOut.analog[13] = term[ROLL];
  debugOut.analog[14] = throttleTerm;
  debugOut.analog[15] = term[YAW];

  for (uint8_t i = 0; i < MAX_SERVOS; i++) {
    int16_t tmp;
    if (servoTestActive) {
      servos[i] = ((int16_t) servoTest[i] - 128) * 4;
    } else {
      // Follow the normal order of servos: Ailerons, elevator, throttle, rudder.
      switch (i) {
      case 0:
        tmp = term[ROLL];
        break;
      case 1:
        tmp = term[PITCH];
        break;
      case 2:
        tmp = throttleTerm;
        break;
      case 3:
        tmp = term[YAW];
        break;
      default:
        tmp = 0;
      }
      // These are all signed and in the same units as the RC stuff in rc.c.
      servos[i] = tmp;
    }
  }

  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  // Debugging
  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  if (!(--debugDataTimer)) {
    debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz.
    debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
    debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
    debugOut.analog[2] = attitude[YAW] / (GYRO_DEG_FACTOR / 10);

    debugOut.analog[3] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
    debugOut.analog[4] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
    debugOut.analog[5] = target[YAW] / (GYRO_DEG_FACTOR / 10);

    debugOut.analog[6] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
    debugOut.analog[7] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
    debugOut.analog[8] = error[YAW] / (GYRO_DEG_FACTOR / 10);

    //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
    //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
    //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg
    //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg
  }
}