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"
#include "timer2.h"
#include "analog.h"
#include "attitude.h"
#include "controlMixer.h"
#include "configuration.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 reverse[3];
int32_t maxError[3];
int32_t IPart[3] = { 0, 0, 0 };
PID_t airspeedPID[3];

int16_t controlServos[NUM_CONTROL_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 flight_updateFlightParametersToFlightMode(void) {
        debugOut.analog[16] = currentFlightMode;
        reverse[PITCH] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_ELEVATOR;
        reverse[ROLL] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_AILERONS;
        reverse[YAW] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_RUDDER;

        // At a switch to angles, we want to kill errors first.
        // This should be triggered only once per mode change!
        if (currentFlightMode == FLIGHT_MODE_ANGLES) {
                target[PITCH] = attitude[PITCH];
                target[ROLL] = attitude[ROLL];
                target[YAW] = attitude[YAW];
        }

        for (uint8_t axis=0; axis<3; axis++) {
                maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR;
        }
}

// Normal at airspeed = 10.
uint8_t calcAirspeedPID(uint8_t pid) {
        if (!(staticParams.bitConfig & CFG_USE_AIRSPEED_PID)) {
                return pid;
        }

        uint16_t result = (pid * 10) / airspeedVelocity;

        if (result > 240 || airspeedVelocity == 0) {
                result = 240;
        }

        return result;
}

void setAirspeedPIDs(void) {
        for (uint8_t axis = 0; axis<3; axis++) {
                airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P);
                airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be???
                airspeedPID[axis].D = dynamicParams.gyroPID[axis].D;
        }
}

#define LOG_STICK_SCALE 8
#define LOG_P_SCALE 6
#define LOG_I_SCALE 10
#define LOG_D_SCALE 6

/************************************************************************/
/*  Main Flight Control                                                 */
/************************************************************************/
void flight_control(void) {
        // Mixer Fractions that are combined for Motor Control
        int16_t term[4];

        // 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;

        setAirspeedPIDs();

        term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE];

        // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway.
        int32_t tmp;

        tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE;
        if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp;

        tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE;
        if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp;

        tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE;
        if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp;

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

        error[axis] = attitude[axis] - target[axis];

#define ROTATETARGET 1
// #define TRUNCATEERROR 1

#ifdef(ROTATETARGET)
                if(abs(error[axis]) > OVER180) {
                  // The shortest way from attitude to target crosses -180.
                  // Well there are 2 possibilities: A is >0 and T is < 0, that makes E a (too) large positive number. It should be wrapped to negative.
                  // Or A is <0 and T is >0, that makes E a (too) large negative number. It should be wrapped to positive.
                  if (error[axis] > 0) {
                    if (error[axis] < OVER360 - maxError[axis]) {
                      // too much err.
                      error[axis] = -maxError[axis];
                      target[axis] = attitude[axis] + maxError[axis];
                      if (target[axis]) > OVER180) target[axis] -= OVER360;
                    } else {
                      // Normal case, we just need to correct for the wrap. Error will be negative.
                      error[axis] -= OVER360;
                    }
                  } else {
            if (error[axis] > maxError[axis] - OVER360) {
              // too much err.
              error[axis] = maxError[axis];
              target[axis] = attitude[axis] - maxError[axis];
              if (target[axis]) < -OVER180) target[axis] += OVER360;
            } else {
              // Normal case, we just need to correct for the wrap. Error will be negative.
              error[axis] += OVER360;
            }
                  }
                } else {
                  // Simple case, linear range.
                if (error[axis] > maxError[axis]) {
                  error[axis] = maxError[axis];
                  target[axis] = attitude[axis] - maxError[axis];
                } else if (error[axis] < -maxError[axis]) {
              error[axis] = -maxError[axis];
              target[axis] = attitude[axis] + maxError[axis];
            }
                }
#endif
#ifdef(TUNCATEERROR)
                if (error[axis] > maxError[axis]) {
                  error[axis] = maxError[axis];
                } else if (error[axis] < -maxError[axis]) {
                  error[axis] = -maxError[axis];
                } else {
                        // update I parts here for angles mode. I parts in rate mode is something different.
                }
#endif

                /*
                 * This is the beginning of a version that adjusts the target to differ from the attitude
                 * by a limited amount. This will eliminate memory over large errors but also knock target angles.
                 * Idea: The limit could be calculated from the max. servo deflection divided by I factor...
                 *
                 */
                /*
                if(abs(attitude[axis]-target[axis]) > OVER180) {
                        if(target[axis] > attitude[axis]) {

                        }
                }
                */

                /************************************************************************/
                /* Calculate control feedback from angle (gyro integral)                */
                /* and angular velocity (gyro signal)                                   */
                /************************************************************************/
                if (currentFlightMode == FLIGHT_MODE_ANGLES || currentFlightMode == FLIGHT_MODE_RATE) {
                        PDPart[axis] = +(((int32_t) gyro_PID[axis] * (int32_t) airspeedPID[axis].P) >> LOG_P_SCALE)
                                + (((int16_t)gyroD[axis] * (int16_t) airspeedPID[axis].D) >> LOG_D_SCALE);
                        //if (reverse[axis])
                        //      PDPart[axis] = -PDPart[axis];
                } else {
                        PDPart[axis] = 0;
                }

                if (currentFlightMode == FLIGHT_MODE_ANGLES) {
                        int16_t anglePart = (int32_t)(error[axis] * (int32_t) airspeedPID[axis].I) >> LOG_I_SCALE;
                //      if (reverse[axis])
                        PDPart[axis] += anglePart;
                //      else
                //              PDPart[axis] -= anglePart;
                }

                // Add I parts here... these are integrated errors.
                if (reverse[axis])
                  term[axis] = controls[axis] - PDPart[axis]; // + IPart[axis];
                else
                  term[axis] = controls[axis] + PDPart[axis]; // + IPart[axis];
        }

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

        for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) {
                int16_t tmp;
                if (servoTestActive) {
                        controlServos[i] = ((int16_t) servoTest[i] - 128) * 8;
                } 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 = term[THROTTLE];
                                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.
                        controlServos[i] = tmp;
                }
        }

        calculateControlServoValues();

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

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

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

                debugOut.analog[9] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
                debugOut.analog[10] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
                debugOut.analog[11] = error[YAW] / (GYRO_DEG_FACTOR / 10);

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

                //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
        }
}