Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 example: 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 "controlMixer.h"
#include "rc.h"
#include "heightControl.h"
#include "attitudeControl.h"
#include "externalControl.h"
#include "configuration.h"
#include "attitude.h"
#include "commands.h"
#include "output.h"

// uint16_t maxControl[2] = { 0, 0 };
uint16_t controlActivity = 0;
int16_t controls[4] = { 0, 0, 0, 0 };
//int16_t controlYaw = 0, controlThrottle = 0;
uint8_t looping = 0;

// Internal variables for reading commands made with an R/C stick.
uint8_t lastCommand = COMMAND_NONE;
uint8_t lastArgument;

uint8_t isCommandRepeated = 0;

// MK flags. TODO: Replace by enum. State machine.
uint16_t isFlying = 0;
volatile uint8_t MKFlags = 0;

/*
 * This could be expanded to take arguments from ohter sources than the RC
 * (read: Custom MK RC project)
 */
uint8_t controlMixer_getArgument(void) {
        return lastArgument;
}

/*
 * 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 controlMixer_getCommand(void) {
        return lastCommand;
}

uint8_t controlMixer_isCommandRepeated(void) {
        return isCommandRepeated;
}

void controlMixer_setNeutral() {
        EC_setNeutral();
        HC_setGround();
}

/*
 * Set the potientiometer values to the momentary values of the respective R/C channels.
 * No slew rate limitation.
 */
void controlMixer_initVariables(void) {
        uint8_t i;
        for (i = 0; i < 8; i++) {
                variables[i] = RC_getVariable(i);
        }
}

/*
 * Update potentiometer values with limited slew rate. Could be made faster if desired.
 * TODO: It assumes R/C as source. Not necessarily true.
 */
void controlMixer_updateVariables(void) {
        uint8_t i;
        int16_t targetvalue;
        for (i = 0; i < 8; i++) {
                targetvalue = RC_getVariable(i);
                if (targetvalue < 0)
                        targetvalue = 0;
                if (variables[i] < targetvalue && variables[i] < 255)
                        variables[i]++;
                else if (variables[i] > 0 && variables[i] > targetvalue)
                        variables[i]--;
        }
}

uint8_t controlMixer_getSignalQuality(void) {
        uint8_t rcQ = RC_getSignalQuality();
        uint8_t ecQ = EC_getSignalQuality();
        // This needs not be the only correct solution...
        return rcQ > ecQ ? rcQ : ecQ;
}

void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
    int16_t tmp = controls[index];
    controls[index] = newValue;
    tmp -= newValue;
    tmp /= 2;
    tmp = tmp * tmp;
    // tmp += (newValue >= 0) ? newValue : -newValue;
    if (controlActivity + (uint16_t)tmp >= controlActivity)
      controlActivity += tmp;
    else controlActivity = 0xffff;
}

#define CADAMPING 10
void dampenControlActivity(void) {
    uint32_t tmp = controlActivity;
    tmp *= ((1<<CADAMPING)-1);
    tmp >>= CADAMPING;
    controlActivity = tmp;
}

/*
 * Update the variables indicating stick position from the sum of R/C, GPS and external control.
 */
void controlMixer_update(void) {
        // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
        // TODO: If no signal --> zero.
        int16_t tempThrottle;

        // takes almost no time...
        RC_update();

        // takes almost no time...
        EC_update();

        // takes about 80 usec.
        HC_update();

    int16_t* RC_PRTY = RC_getPRTY();
    int16_t* EC_PRTY = EC_getPRTY();

    updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]);
    updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]);
    updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]);
    dampenControlActivity();

    //debugOut.analog[14] = controlActivity/10;

        tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]);
        controls[CONTROL_THROTTLE] = AC_getThrottle(tempThrottle);

        // controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];

        if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
                controlMixer_updateVariables();
                configuration_applyVariablesToParams();
                looping = RC_getLooping(looping);
        } else { // Signal is not OK
                // Could handle switch to emergency flight here.
                // throttle is handled elsewhere.
                looping = 0;
        }

        // part1a end.

        /* This is not really necessary with the dead-band feature on all sticks (see rc.c)
         if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
         if (controlYaw > 2) controlYaw-= 2;
         else if (controlYaw< -2) controlYaw += 2;
         else controlYaw = 0;
         }
         */

        /*
         * Record maxima
        for (axis = PITCH; axis <= ROLL; axis++) {
                if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) {
                        maxControl[axis] = abs(control[axis]) / CONTROL_SCALING;
                        if (maxControl[axis] > 100)
                                maxControl[axis] = 100;
                } else if (maxControl[axis])
                        maxControl[axis]--;
        }
    */

        uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
                        : COMMAND_NONE;
        uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
                        : COMMAND_NONE;

        if (rcCommand != COMMAND_NONE) {
                isCommandRepeated = (lastCommand == rcCommand);
                lastCommand = rcCommand;
                lastArgument = RC_getArgument();
        } else if (ecCommand != COMMAND_NONE) {
                isCommandRepeated = (lastCommand == ecCommand);
                lastCommand = ecCommand;
                lastArgument = EC_getArgument();
        } else {
                // Both sources have no command, or one or both are out.
                // Just set to false. There is no reason to check if the none-command was repeated anyway.
                isCommandRepeated = 0;
                lastCommand = COMMAND_NONE;
        }

        /*
        if (isCommandRepeated)
                DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED;
        else
                DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED;
        if (rcCommand)
                DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED;
        else
                DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED;
        */
}

// TODO: Integrate into command system.
uint8_t controlMixer_testCompassCalState(void) {
        return RC_testCompassCalState();
}