// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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.
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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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.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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 "twimaster.h"
#include "attitude.h"
#include "controlMixer.h"
#include "commands.h"
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
/*
* These are no longer maintained, just left at 0. The original implementation just summed the acc.
* value to them every 2 ms. No filtering or anything. Just a case for an eventual overflow?? Hey???
*/
// int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0;
uint8_t gyroPFactor
, gyroIFactor
; // the PD factors for the attitude control
uint8_t yawPFactor
, yawIFactor
; // the PD factors for the yaw control
// Some integral weight constant...
uint16_t Ki
= 10300 / 33;
/************************************************************************/
/* Filter for motor value smoothing (necessary???) */
/************************************************************************/
int16_t motorFilter
(int16_t newvalue
, int16_t oldvalue
) {
switch (staticParams.
motorSmoothing) {
case 0:
return newvalue
;
case 1:
return (oldvalue
+ newvalue
) / 2;
case 2:
if (newvalue
> oldvalue
)
return (1 * (int16_t) oldvalue
+ newvalue
) / 2; //mean of old and new
else
return newvalue
- (oldvalue
- newvalue
) * 1; // 2 * new - old
case 3:
if (newvalue
< oldvalue
)
return (1 * (int16_t) oldvalue
+ newvalue
) / 2; //mean of old and new
else
return newvalue
- (oldvalue
- newvalue
) * 1; // 2 * new - old
default:
return newvalue
;
}
}
/************************************************************************/
/* Neutral Readings */
/************************************************************************/
void flight_setNeutral
() {
MKFlags
|= MKFLAG_CALIBRATE
;
// not really used here any more.
/*
dynamicParams.KalmanK = -1;
dynamicParams.KalmanMaxDrift = 0;
dynamicParams.KalmanMaxFusion = 32;
*/
controlMixer_initVariables
();
}
void setFlightParameters
(uint8_t _Ki
, uint8_t _gyroPFactor
,
uint8_t _gyroIFactor
, uint8_t _yawPFactor
, uint8_t _yawIFactor
) {
Ki
= 10300 / _Ki
;
gyroPFactor
= _gyroPFactor
;
gyroIFactor
= _gyroIFactor
;
yawPFactor
= _yawPFactor
;
yawIFactor
= _yawIFactor
;
}
void setNormalFlightParameters
(void) {
setFlightParameters
(
staticParams.
IFactor,
dynamicParams.
gyroP,
staticParams.
bitConfig & CFG_HEADING_HOLD
? 0 : dynamicParams.
gyroI,
dynamicParams.
gyroP,
staticParams.
yawIFactor
);
}
void setStableFlightParameters
(void) {
setFlightParameters
(33, 90, 120, 90, 120);
}
/************************************************************************/
/* Main Flight Control */
/************************************************************************/
void flight_control
(void) {
int16_t tmp_int
;
// Mixer Fractions that are combined for Motor Control
int16_t yawTerm
, throttleTerm
, term
[2];
// PID controller variables
int16_t PDPart
[2],/* DPart[2],*/ PDPartYaw
/*, DPartYaw */;
static int32_t IPart
[2] = { 0, 0 };
static uint16_t emergencyFlightTime
;
static int8_t debugDataTimer
= 1;
// High resolution motor values for smoothing of PID motor outputs
static int16_t motorFilters
[MAX_MOTORS
];
uint8_t i
, axis
;
throttleTerm
= controls
[CONTROL_THROTTLE
];
// This check removed. Is done on a per-motor basis, after output matrix multiplication.
if (throttleTerm
< staticParams.
minThrottle + 10)
throttleTerm
= staticParams.
minThrottle + 10;
else if (throttleTerm
> staticParams.
maxThrottle - 20)
throttleTerm
= (staticParams.
maxThrottle - 20);
/************************************************************************/
/* RC-signal is bad */
/* This part could be abstracted, as having yet another control input */
/* to the control mixer: An emergency autopilot control. */
/************************************************************************/
if (controlMixer_getSignalQuality
() <= SIGNAL_BAD
) { // the rc-frame signal is not reveived or noisy
if (controlMixer_didReceiveSignal
) beepRCAlarm
();
if (emergencyFlightTime
) {
// continue emergency flight
emergencyFlightTime
--;
if (isFlying
> 256) {
// We're probably still flying. Descend slowly.
throttleTerm
= staticParams.
emergencyThrottle; // Set emergency throttle
MKFlags
|= (MKFLAG_EMERGENCY_FLIGHT
); // Set flag for emergency landing
setStableFlightParameters
();
} else {
MKFlags
&= ~
(MKFLAG_MOTOR_RUN
); // Probably not flying, and bad R/C signal. Kill motors.
}
} else {
// end emergency flight (just cut the motors???)
MKFlags
&= ~
(MKFLAG_MOTOR_RUN
| MKFLAG_EMERGENCY_FLIGHT
);
}
} else {
// signal is acceptable
if (controlMixer_getSignalQuality
() > SIGNAL_BAD
) {
// Reset emergency landing control variables.
MKFlags
&= ~
(MKFLAG_EMERGENCY_FLIGHT
); // clear flag for emergency landing
// The time is in whole seconds.
emergencyFlightTime
= (uint16_t) staticParams.
emergencyFlightDuration * 488;
}
// If some throttle is given, and the motor-run flag is on, increase the probability that we are flying.
if (throttleTerm
> 40 && (MKFlags
& MKFLAG_MOTOR_RUN
)) {
// increment flight-time counter until overflow.
if (isFlying
!= 0xFFFF)
isFlying
++;
} else
/*
* When standing on the ground, do not apply I controls and zero the yaw stick.
* Probably to avoid integration effects that will cause the copter to spin
* or flip when taking off.
*/
if (isFlying
< 256) {
IPart
[PITCH
] = IPart
[ROLL
] = 0;
PDPartYaw
= 0;
if (isFlying
== 250) {
// HC_setGround();
attitude_resetHeadingToMagnetic
();
// Set target heading to the one just gotten off compass.
// targetHeading = heading;
}
} else {
// Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag?
// Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe.
MKFlags
|= (MKFLAG_FLY
);
}
commands_handleCommands
();
setNormalFlightParameters
();
} // end else (not bad signal case)
/************************************************************************/
/* Yawing */
/************************************************************************/
/*
if (abs(controls[CONTROL_YAW]) > 4 * staticParams.stickYawP) { // yaw stick is activated
ignoreCompassTimer = 1000;
if (!(staticParams.bitConfig & CFG_COMPASS_FIX)) {
//targetHeading = heading;
// YGBSM!!!
}
}
*/
#if defined (USE_NAVICTRL)
/************************************************************************/
/* GPS is currently not supported. */
/************************************************************************/
if(staticParams.
GlobalConfig & CFG_GPS_ACTIVE
) {
GPS_Main
();
MKFlags
&= ~
(MKFLAG_CALIBRATE
| MKFLAG_START
);
} else {
}
#endif
// end part 1: 750-800 usec.
// start part 3: 350 - 400 usec.
/************************************************************************/
/* Calculate control feedback from angle (gyro integral) */
/* and angular velocity (gyro signal) */
/************************************************************************/
// The P-part is the P of the PID controller. That's the angle integrals (not rates).
for (axis
= PITCH
; axis
<= ROLL
; axis
++) {
PDPart
[axis
] = attitude
[axis
] * gyroIFactor
/ (GYRO_DEG_FACTOR_PITCHROLL
<< 2); // P-Part - Proportional to Integral
PDPart
[axis
] += (int32_t)rate_PID
[axis
] * gyroPFactor
/ (GYRO_DEG_FACTOR_PITCHROLL
>> 5);
PDPart
[axis
] += (differential
[axis
] * (int16_t) dynamicParams.
gyroD) / 16;
CHECK_MIN_MAX
(PDPart
[axis
], -6L*GYRO_DEG_FACTOR_PITCHROLL
, 6L*GYRO_DEG_FACTOR_PITCHROLL
);
}
#define YAW_I_LIMIT (45L * GYRO_DEG_FACTOR_YAW)
// This is where control affects the target heading. It also (later) directly controls yaw.
headingError
-= controls
[CONTROL_YAW
];
debugOut.
analog[28] = headingError
/ 100;
if (headingError
< -YAW_I_LIMIT
) headingError
= -YAW_I_LIMIT
;
if (headingError
> YAW_I_LIMIT
) headingError
= YAW_I_LIMIT
;
PDPartYaw
= (int32_t)(headingError
* yawIFactor
) / (GYRO_DEG_FACTOR_PITCHROLL
<< 3);
// Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on.
PDPartYaw
+= (int32_t)(yawRate
* yawPFactor
) / (GYRO_DEG_FACTOR_PITCHROLL
>> 6);
// limit control feedback
// CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT);
/*
* Compose throttle term.
* If a Bl-Ctrl is missing, prevent takeoff.
*/
if (missingMotor
) {
// if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway???
if (isFlying
> 1 && isFlying
< 50 && throttleTerm
> 0)
isFlying
= 1; // keep within lift off condition
throttleTerm
= staticParams.
minThrottle; // reduce gas to min to avoid lift of
}
// Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already?
throttleTerm
*= CONTROL_SCALING
;
/*
* Compose yaw term.
* The yaw term is limited: Absolute value is max. = the throttle term / 2.
* However, at low throttle the yaw term is limited to a fixed value,
* and at high throttle it is limited by the throttle reserve (the difference
* between current throttle and maximum throttle).
*/
#define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value
yawTerm
= PDPartYaw
- controls
[CONTROL_YAW
] * CONTROL_SCALING
;
// Limit yawTerm
debugOut.
digital[0] &= ~DEBUG_CLIP
;
if (throttleTerm
> MIN_YAWGAS
) {
if (yawTerm
< -throttleTerm
/ 2) {
debugOut.
digital[0] |= DEBUG_CLIP
;
yawTerm
= -throttleTerm
/ 2;
} else if (yawTerm
> throttleTerm
/ 2) {
debugOut.
digital[0] |= DEBUG_CLIP
;
yawTerm
= throttleTerm
/ 2;
}
} else {
if (yawTerm
< -MIN_YAWGAS
/ 2) {
debugOut.
digital[0] |= DEBUG_CLIP
;
yawTerm
= -MIN_YAWGAS
/ 2;
} else if (yawTerm
> MIN_YAWGAS
/ 2) {
debugOut.
digital[0] |= DEBUG_CLIP
;
yawTerm
= MIN_YAWGAS
/ 2;
}
}
tmp_int
= staticParams.
maxThrottle * CONTROL_SCALING
;
if (yawTerm
< -(tmp_int
- throttleTerm
)) {
yawTerm
= -(tmp_int
- throttleTerm
);
debugOut.
digital[0] |= DEBUG_CLIP
;
} else if (yawTerm
> (tmp_int
- throttleTerm
)) {
yawTerm
= (tmp_int
- throttleTerm
);
debugOut.
digital[0] |= DEBUG_CLIP
;
}
// CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm));
debugOut.
digital[1] &= ~DEBUG_CLIP
;
for (axis
= PITCH
; axis
<= ROLL
; axis
++) {
/*
* Compose pitch and roll terms. This is finally where the sticks come into play.
*/
if (gyroIFactor
) {
// Integration mode: Integrate (angle - stick) = the difference between angle and stick pos.
// That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time.
// TODO: Find out why this seems to be proportional to stick position - not integrating it at all.
IPart
[axis
] += PDPart
[axis
] - controls
[axis
]; // Integrate difference between P part (the angle) and the stick pos.
} else {
// "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos.
// To keep up with a full stick PDPart should be about 156...
IPart
[axis
] += PDPart
[axis
] - controls
[axis
]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos.
}
tmp_int
= (int32_t) ((int32_t) dynamicParams.
dynamicStability
* (int32_t) (throttleTerm
+ abs(yawTerm
) / 2)) / 64;
// TODO: From which planet comes the 16000?
CHECK_MIN_MAX
(IPart
[axis
], -(CONTROL_SCALING
* 16000L), (CONTROL_SCALING
* 16000L));
// Add (P, D) parts minus stick pos. to the scaled-down I part.
term
[axis
] = PDPart
[axis
] - controls
[axis
] + IPart
[axis
] / Ki
; // PID-controller for pitch
term
[axis
] += (dynamicParams.
levelCorrection[axis
] - 128);
/*
* Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!).
* The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity
* (max. pitch or roll term is the throttle value).
* TODO: Why a growing function of yaw?
*/
if (term
[axis
] < -tmp_int
) {
debugOut.
digital[1] |= DEBUG_CLIP
;
} else if (term
[axis
] > tmp_int
) {
debugOut.
digital[1] |= DEBUG_CLIP
;
}
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Universal Mixer
// Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING].
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
debugOut.
analog[3] = rate_ATT
[PITCH
];
debugOut.
analog[4] = rate_ATT
[ROLL
];
debugOut.
analog[5] = yawRate
;
debugOut.
analog[6] = filteredAcc
[PITCH
];
debugOut.
analog[7] = filteredAcc
[ROLL
];
debugOut.
analog[8] = filteredAcc
[Z
];
debugOut.
analog[13] = term
[PITCH
];
debugOut.
analog[14] = term
[ROLL
];
debugOut.
analog[15] = yawTerm
;
debugOut.
analog[16] = throttleTerm
;
for (i
= 0; i
< MAX_MOTORS
; i
++) {
int32_t tmp
;
uint8_t throttle
;
tmp
= (int32_t)throttleTerm
* mixerMatrix.
motor[i
][MIX_THROTTLE
];
tmp
+= (int32_t)term
[PITCH
] * mixerMatrix.
motor[i
][MIX_PITCH
];
tmp
+= (int32_t)term
[ROLL
] * mixerMatrix.
motor[i
][MIX_ROLL
];
tmp
+= (int32_t)yawTerm
* mixerMatrix.
motor[i
][MIX_YAW
];
tmp
= tmp
>> 6;
motorFilters
[i
] = motorFilter
(tmp
, motorFilters
[i
]);
// Now we scale back down to a 0..255 range.
tmp
= motorFilters
[i
] / MOTOR_SCALING
;
// So this was the THIRD time a throttle was limited. But should the limitation
// apply to the common throttle signal (the one used for setting the "power" of
// all motors together) or should it limit the throttle set for each motor,
// including mix components of pitch, roll and yaw? I think only the common
// throttle should be limited.
// --> WRONG. This caused motors to stall completely in tight maneuvers.
// Apply to individual signals instead.
CHECK_MIN_MAX
(tmp
, 1, 255);
throttle
= tmp
;
// if (i < 4) debugOut.analog[22 + i] = throttle;
if ((MKFlags
& MKFLAG_MOTOR_RUN
) && mixerMatrix.
motor[i
][MIX_THROTTLE
] > 0) {
motor
[i
].
throttle = throttle
;
} else if (motorTestActive
) {
motor
[i
].
throttle = motorTest
[i
];
} else {
motor
[i
].
throttle = 0;
}
}
I2C_Start
(TWI_STATE_MOTOR_TX
);
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Debugging
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if (!(--debugDataTimer
)) {
debugDataTimer
= 24; // update debug outputs at 488 / 24 = 20.3 Hz.
debugOut.
analog[0] = attitude
[PITCH
] / (GYRO_DEG_FACTOR_PITCHROLL
/10); // in 0.1 deg
debugOut.
analog[1] = attitude
[ROLL
] / (GYRO_DEG_FACTOR_PITCHROLL
/10); // in 0.1 deg
debugOut.
analog[2] = heading
/ GYRO_DEG_FACTOR_YAW
;
}
}