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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include "control.h"
#include "rc.h"
#include "configuration.h"
#include "attitude.h"
#include "eeprom.h"
#include "flight.h"
#define RCChannel(dimension) (PPM_in[staticParams.ChannelAssignment[dimension]])
uint16_t maxStickPitch
= 0, maxStickRoll
= 0;
int16_t stickPitch
= 0, stickRoll
= 0, stickYaw
= 0, stickThrottle
= 0;
int16_t GPSStickPitch
= 0, GPSStickRoll
= 0;
int16_t externalStickPitch
= 0, externalStickRoll
= 0, externalStickYaw
= 0, externalHeightValue
= -20;
// dongfang's own experiment: Cablibrated sticks.
int16_t stickOffsetPitch
= 0, stickOffsetRoll
= 0;
// Looping-or-not flags.
uint8_t loopingPitch
= 0, loopingRoll
= 0;
uint8_t loopingLeft
= 0, loopingRight
= 0, loopingDown
= 0, loopingTop
= 0;
// Internal variables for reading commands made with an R/S stick.
uint8_t lastStickCommand
= STICK_COMMAND_UNDEF
;
uint8_t stickCommandTimer
= 0;
ExternalControl_t externalControl
;
/*
* Stick diagram:
* 2--3--4
* | | +
* 1 9 5 ^ 0
* | | |
* 8--7--6
*
* + <--
* 0
*
* Not in any of these positions: 0
*/
/*
* The stick most be further from center than this to indicate a settings number (1-5).
*/
#define STICK_SETTINGSELECTION_THRESHOLD 70
uint8_t control_getLeftRCStickIndex
(int16_t thresholdThrottle
, int16_t thresholdYaw
) {
if(RCChannel
(CH_THROTTLE
) > thresholdThrottle
) {
// throttle is up
if(RCChannel
(CH_YAW
) > thresholdYaw
)
return STICK_COMMAND_GYROCAL
;
if(RCChannel
(CH_YAW
) < -thresholdYaw
)
return STICK_COMMAND_ACCCAL
;
return STICK_COMMAND_UNDEF
;
} else if(RCChannel
(CH_THROTTLE
) < -thresholdThrottle
) {
// pitch is down
if(RCChannel
(CH_YAW
) > thresholdYaw
)
return STICK_COMMAND_STOP
;
if(RCChannel
(CH_YAW
) < -thresholdYaw
)
return STICK_COMMAND_START
;
return STICK_COMMAND_UNDEF
;
} else {
// pitch is around center
return STICK_COMMAND_UNDEF
;
}
}
uint8_t control_getRightRCStickIndex
(void) {
if(RCChannel
(CH_PITCH
) > STICK_SETTINGSELECTION_THRESHOLD
) {
// pitch is up
if(RCChannel
(CH_ROLL
) > STICK_SETTINGSELECTION_THRESHOLD
)
return 2;
if(RCChannel
(CH_ROLL
) < -STICK_SETTINGSELECTION_THRESHOLD
)
return 4;
return 3;
} else if(RCChannel
(CH_PITCH
) < -STICK_SETTINGSELECTION_THRESHOLD
) {
// pitch is down
if(RCChannel
(CH_ROLL
) > STICK_SETTINGSELECTION_THRESHOLD
)
return 8;
if(RCChannel
(CH_ROLL
) < -STICK_SETTINGSELECTION_THRESHOLD
)
return 6;
return 7;
} else {
// pitch is around center
if(RCChannel
(CH_ROLL
) > STICK_SETTINGSELECTION_THRESHOLD
)
return 1;
if(RCChannel
(CH_ROLL
) < -STICK_SETTINGSELECTION_THRESHOLD
)
return 5;
return 9;
}
}
/*
* This could be expanded to take calibrate / start / stop commands from ohter sources
* than the R/C (read: Custom MK R/C project)
*/
void control_senseStickCommands
(void) {
uint8_t stickCommandNow
= control_getLeftRCStickIndex
(85, 85);
if (stickCommandNow
!= lastStickCommand
) {
lastStickCommand
= stickCommandNow
;
stickCommandTimer
= 0;
} else {
if (stickCommandTimer
< 201)
stickCommandTimer
++;
}
}
/*
* This could be expanded to take calibrate / start / stop commands from ohter sources
* than the R/C (read: Custom MK R/C project)
*/
uint8_t control_getStickCommand
(void) {
// If the same command was made 200 times, it's stable.
if (stickCommandTimer
>= 200) {
return lastStickCommand
;
}
return STICK_COMMAND_UNDEF
;
}
uint8_t control_isStickCommandRepeated
(void) {
return stickCommandTimer
> 200 ? 1 : 0;
}
/*
* To be fired only when the right stick is in the center position.
* This will cause the value of pitch and roll stick to be adjusted
* to zero (not just to near zero, as per the assumption in rc.c
* about the rc signal. I had values about 50..70 with a Futaba
* R617 receiver.) This calibration is not strictly necessary, but
* for control logic that depends on the exact (non)center position
* of a stick, it may be useful.
*/
void control_setNeutral
(void) {
stickOffsetPitch
+= stickPitch
;
stickOffsetRoll
+= stickRoll
;
}
/*
* Set the potientiometer values to the values of the respective R/C channel
* right now. No slew rate limit.
*/
void control_initPots
(void) {
uint8_t i
;
for (i
=0; i
<4; i
++) {
pots
[i
] = RCChannel
(CH_POTS
+ i
) + POT_OFFSET
;
}
for (i
=4; i
<8; i
++) {
pots
[i
] = PPM_in
[9 + (i
-4)] + POT_OFFSET
;
}
}
/*
* Update potentiometer values with slow slew rate. Could be made faster if desired.
*/
void control_updatePots
(void) {
uint8_t i
;
uint16_t targetvalue
;
for (i
=0; i
<8; i
++) {
if (i
<4) // configured pots
targetvalue
= RCChannel
(CH_POTS
+ i
) + POT_OFFSET
;
else // PPM24-Extension
targetvalue
= PPM_in
[9 + i
] + POT_OFFSET
;
if (targetvalue
< 0) targetvalue
= 0;
if (pots
[i
] < targetvalue
&& pots
[i
] < 255) pots
[i
]++; else if(pots
[i
] > 0 && pots
[i
] > targetvalue
) pots
[i
]--;
}
}
/*
* Update the variables indicating stick position from the sum of R/C, GPS and external control.
*/
void control_update
(void) {
// calculate Stick inputs by rc channels (P) and changing of rc channels (D)
stickPitch
= RCChannel
(CH_PITCH
) * staticParams.
StickP;
// (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4;
stickPitch
+= PPM_diff
[staticParams.
ChannelAssignment[CH_PITCH
]] * staticParams.
StickD;
stickPitch
= stickPitch
- stickOffsetPitch
- GPSStickPitch
;
stickRoll
= RCChannel
(CH_ROLL
) * staticParams.
StickP;
// stick_roll = (stick_roll * 3 + RCChannel(CH_ROLL) * staticParams.StickP) / 4;
stickRoll
+= PPM_diff
[staticParams.
ChannelAssignment[CH_ROLL
]] * staticParams.
StickD;
stickRoll
= stickRoll
- stickOffsetRoll
- GPSStickRoll
;
// mapping of yaw
stickYaw
= -RCChannel
(CH_YAW
);
// (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction)
if(staticParams.
GlobalConfig & (CFG_COMPASS_ACTIVE
|CFG_GPS_ACTIVE
)) {
if (stickYaw
> 2) stickYaw
-= 2;
else if (stickYaw
< -2) stickYaw
+= 2;
else stickYaw
= 0;
}
// mapping of gas
stickThrottle
= RCChannel
(CH_THROTTLE
) + 120;// shift to positive numbers
if(externalControl.
config & 0x01 && dynamicParams.
ExternalControl > 128) {
stickPitch
+= (int16_t) externalControl.
pitch * (int16_t) staticParams.
StickP;
stickRoll
+= (int16_t) externalControl.
roll * (int16_t) staticParams.
StickP;
stickYaw
+= externalControl.
yaw;
// ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)staticParams.Height_Gain;
// Dubious: Lowest throttle setting has precedence.
if(externalControl.
throttle < stickThrottle
) stickThrottle
= externalControl.
throttle;
}
if(stickThrottle
< 0) stickThrottle
= 0;
if(abs(stickPitch
/ STICK_GAIN
) > maxStickPitch
) {
maxStickPitch
= abs(stickPitch
) / STICK_GAIN
;
if(maxStickPitch
> 100) maxStickPitch
= 100;
}
else if (maxStickPitch
) maxStickPitch
--;
if(abs(stickRoll
/ STICK_GAIN
) > maxStickRoll
) {
maxStickRoll
= abs(stickRoll
) / STICK_GAIN
;
if(maxStickRoll
> 100) maxStickRoll
= 100;
}
else if (maxStickRoll
) maxStickRoll
--;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping? Do not consider external or GPS input for this :)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if((RCChannel
(CH_ROLL
) > staticParams.
LoopThreshold) && staticParams.
BitConfig & CFG_LOOP_LEFT
) loopingLeft
= 1;
else {
if(loopingLeft
) { // Hysteresis
if((RCChannel
(CH_ROLL
) < (staticParams.
LoopThreshold - staticParams.
LoopHysteresis))) loopingLeft
= 0;
}
}
if((RCChannel
(CH_ROLL
) < -staticParams.
LoopThreshold) && staticParams.
BitConfig & CFG_LOOP_RIGHT
) loopingRight
= 1;
else {
if(loopingRight
) { // Hysteresis
if(RCChannel
(CH_ROLL
) > -(staticParams.
LoopThreshold - staticParams.
LoopHysteresis)) loopingRight
= 0;
}
}
if((RCChannel
(CH_PITCH
) > staticParams.
LoopThreshold) && staticParams.
BitConfig & CFG_LOOP_UP
) loopingTop
= 1;
else {
if(loopingTop
) { // Hysteresis
if((RCChannel
(CH_PITCH
) < (staticParams.
LoopThreshold - staticParams.
LoopHysteresis))) loopingTop
= 0;
}
}
if((RCChannel
(CH_PITCH
) < -staticParams.
LoopThreshold) && staticParams.
BitConfig & CFG_LOOP_DOWN
) loopingDown
= 1;
else {
if(loopingDown
) { // Hysteresis
if(RCChannel
(CH_PITCH
) > -(staticParams.
LoopThreshold - staticParams.
LoopHysteresis)) loopingDown
= 0;
}
}
if(loopingLeft
|| loopingRight
) loopingRoll
= 1; else loopingRoll
= 0;
if(loopingTop
|| loopingDown
) { loopingPitch
= 1; loopingRoll
= 0; loopingLeft
= 0; loopingRight
= 0;} else loopingPitch
= 0;
}
void setCompassCalState
(void) {
static uint8_t stick
= 1;
// if pitch is centered or top set stick to zero
if(RCChannel
(CH_PITCH
) > -20) stick
= 0;
// if pitch is down trigger to next cal state
if((RCChannel
(CH_PITCH
) < -70) && !stick
) {
stick
= 1;
compassCalState
++;
if(compassCalState
< 5) beepNumber
(compassCalState
);
else beep
(1000);
}
}
/*
*
*/
uint8_t control_hasNewRCData
(void) {
// return !NewPpmData--;
return (NewPpmData
-- == 0) ? 1 : 0;
}
void control_performPilotCalibrationCommands
(uint8_t stickCommand
) {
if (stickCommand
== STICK_COMMAND_GYROCAL
&& !control_isStickCommandRepeated
()) {
// Run gyro calibration but do not repeat it.
GRN_OFF
;
// TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough?
// isFlying = 0;
// check roll/pitch stick position
// if pitch stick is top or roll stick is left or right --> change parameter setting
// according to roll/pitch stick position
uint8_t setting
= control_getRightRCStickIndex
();
if ((setting
> 0 && setting
< 6) || setting
== 9) {
// Gyro calinbration, with or without selecting a new parameter-set.
if(setting
> 0 && setting
< 6) {
// A valid parameter-set (1..5) was chosen - use it.
setActiveParamSet
(setting
);
}
ParamSet_ReadFromEEProm
(getActiveParamSet
());
attitude_setNeutral
();
flight_setNeutral
();
if (setting
== 9) { // Right stick is centered; calibrate it to zero (hmm strictly does not belong here).
control_setNeutral
(); // Calibrate right stick neutral position.
}
beepNumber
(getActiveParamSet
());
} else if(staticParams.
GlobalConfig & (CFG_COMPASS_ACTIVE
| CFG_GPS_ACTIVE
) && setting
== 7) {
// If right stick is centered and down
compassCalState
= 1;
beep
(1000);
}
}
// save the ACC neutral setting to eeprom
else {
if(stickCommand
== STICK_COMMAND_ACCCAL
&& !control_isStickCommandRepeated
()) {
// Run gyro and acc. meter calibration but do not repeat it.
GRN_OFF
;
analog_calibrateAcc
();
attitude_setNeutral
();
flight_setNeutral
();
control_setNeutral
(); // Calibrate right stick neutral position.
beepNumber
(getActiveParamSet
());
}
}
} // end !MOTOR_RUN condition.