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 f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + 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.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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 };

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

uint8_t isCommandRepeated = 0;
uint8_t controlMixer_didReceiveSignal = 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() {
  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
    variables[i] = 0;
  }
  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 < VARIABLE_COUNT; 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 < VARIABLE_COUNT; 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();
 
  if (rcQ < SIGNAL_GOOD) debugOut.digital[0] |= DEBUG_SIGNAL; else debugOut.digital[0] &= ~DEBUG_SIGNAL;
  if (ecQ < SIGNAL_GOOD) debugOut.digital[1] |= DEBUG_SIGNAL; else debugOut.digital[1] &= ~DEBUG_SIGNAL;
 
  // 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;
  */
  if (controlActivity + (uint16_t)tmp < 32768)
    controlActivity += tmp;
}

#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[17] = controlActivity/10;
 
  tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]);
  controls[CONTROL_THROTTLE] = AC_getThrottle(tempThrottle);
 
  if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
    controlMixer_updateVariables();
    controlMixer_didReceiveSignal = 1;
  } else { // Signal is not OK
    // Could handle switch to emergency flight here.
    // throttle is handled elsewhere.
  }

  // We can safely do this even with a bad signal - the variables will not have been updated then.
  configuration_applyVariablesToParams();
 
  // 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 (rcCommand != COMMAND_NONE) debugOut.digital[0] |= DEBUG_SIGNAL; else debugOut.digital[0] &= ~DEBUG_SIGNAL;
  //if (isCommandRepeated) debugOut.digital[1] |= DEBUG_SIGNAL; else debugOut.digital[1] &= ~DEBUG_SIGNAL;
 }

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