Englebert
3 years ago
9 changed files with 651 additions and 501 deletions
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50src/Motors.cpp
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1src/Motors.h
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20src/config.h
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24src/gyro.cpp
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1src/gyro.h
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549src/main.cpp
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18src/main.h
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325src/task.cpp
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164src/task.h
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#include "task.h"
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TASK::TASK(void) { |
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} |
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void TASK::begin(void) { |
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} |
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void TASK::run(void) { |
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if((uint32_t)(currentTime - rcTime) > 0) { |
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// RC Loop
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process_rc(); |
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} else { |
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// Not in RC Loop
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process_modules(); |
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} |
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// Loop time
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currentTime = micros(); |
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// Compute IMU
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// Experimental FlightModes
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#if defined(ACROTRAINER_MODE)
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if(flags.ANGLE_MODE) { |
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if(abs(rcCommand[ROLL] + ads(rcCommand[PITCH]) >= ACROTRAINER_MODE) { |
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flags.ANGLE_MODE = 0; |
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flags.HORIZON_MODE = 0; |
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flags.MAG_MODE = 0; |
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flags.BARO_MODE = 0; |
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GPS_mode = GPS_MODE_NONE; |
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} |
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} |
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#endif
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// THROTTLE sticks during mission and RTH
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#if GPS
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if(GPS_conf.ignore_throttle == 1) { |
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if( |
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flags.GPS_mode == GPS_MODE_NAV || |
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flags.GPS_mode == GPS_MODE_RTH |
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) { |
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// rcCommand[ROLL] = 0;
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// rcCommand[PITCH] = 0;
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// rcCommand[YAW] = 0;
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flags.THROTTLE_IGNORED = 1; |
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} else { |
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flags.THROTTLE_IGNORED = 0; |
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} |
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} |
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// Heading manipulation
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// TODO: Do heading manipulation
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#endif
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if( |
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abs(rcCommand[YAW]) < 70 && |
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flags.MAG_MODE |
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){ |
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int16_t dif = att.heading - magHold; |
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if(dif <= -180) dif += 360; |
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if(dif >= +180) dif -= 360; |
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if( |
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flags.SMALL_ANGLES_25 || |
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(flags.GPS_mode != 0) |
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) { |
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rcCommand[YAW] -= dif * conf.pid[PIDMAG].P8 >> 5; // Always correct maghold in GPS MODE
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} else { |
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magHold = att.heading; |
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} |
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} |
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#if BARO && (!defined(SURPRESS_BARO_ALTHOLD))
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/* Smooth alt change routing for slow auto aerophoto modes. It is slowly increase/decrease altitude
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* proportional to stick movement (+/-100 throttle gives about +/-50cm in 1 second with cycle time about 3-4ms) |
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*/ |
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if(flags.BARO_MODE) { |
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isAltHoldChanged = 0; |
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AltHoldCorr = 0; |
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#if GPS
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// If autoland is in progress then take over and decrease alt slowly
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if(flags.LAND_IN_PROGRESS) { |
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AltHoldCorr -= GPS_conf.land_speed; |
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if(abs(AltHoldCorr) > 512) { |
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AltHold += AltHoldCorr / 512; |
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AltHoldCorr %= 512; |
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} |
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} |
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#endif
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// If throttle not ignored then allow change altitude with the stick
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if( |
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(abs(rcCommand[THROTTLE] - initialThrottleHold) > ALT_HOLD_THROTTLE_NEUTRAL_ZONE) && |
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!flags.THROTTLE_IGNORED) |
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{ |
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// Slowly increase/decrease AltHold proportional to stick movement (+100 throttle gives ~ +50cm in 1 second with cycle time about 3-4ms)
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AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold; |
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if(abs(AltHoldCorr) > 512) { |
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AltHold += AltHoldCorr / 512; |
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AltHoldCorr %= 512; |
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} |
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isAltHoldChanged = 1; |
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} else { |
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AltHold = alt.EstAlt; |
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isAltHoldChanged = 0; |
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} |
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rcCommand[THROTTLE] = initialThrottleHold + BaroPID; |
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} |
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#endif // BARO
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#if defined(THROTTLE_ANGLE_CORRECTION)
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if( |
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flags.ANGLE_MODE || |
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flags.HORIZON_MODE |
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) { |
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rcCommand[THROTTLE] += throttleAngleCorrection; |
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} |
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#endif
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#if GPS
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// TODO: Split cos_yaw calculations into two phases (X and Y)
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if( |
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(flags.GPS_mode != GPS_MODE_NONE) && |
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flags.GPS_FIX_HOME |
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){ |
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float sin_yaw_y = sin(att.heading * 0.0174532925f); |
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float cos_yaw_x = cos(att.heading * 0.0174532925f); |
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GPS_angle[ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10; |
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GPS_angle[PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10; |
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} else { |
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GPS_angle[ROLL] = 0; |
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GPS_angle[PITCH] = 0; |
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} |
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// Used to communicate back nav angles to the GPS simulator (for HIL testing)
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#if defined(GPS_SIMULATOR)
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// SerialWrite(2,0xa5);
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// SerialWrite16(2,nav[LAT]+rcCommand[PITCH]);
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// SerialWrite16(2,nav[LON]+rcCommand[ROLL]);
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// SerialWrite16(2,(nav[LAT]+rcCommand[PITCH])-(nav[LON]+rcCommand[ROLL])); //check
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#endif
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#endif //GPS
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// **** PITCH & ROLL & YAW PID ****
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#if PID_CONTROLLER == 1 // evolved oldschool
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if(flags.HORIZON_MODE) |
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prop = _min( max( abs(rcCommand[PITCH]), abs(rcCommand[ROLL]) ), 512); |
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// PITCH & ROLL
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for(axis = 0; axis < 2; axis++){ |
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rc = rcCommand[axis] << 1; |
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error = rc - imu.gyroData[axis]; |
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errorGyroI[axis] = constrain(errorGyroI[axis]+error, -16000, +16000); // WindUp 16 bits is ok here
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if(abs(imu.gyroData[axis]) > 640) |
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errorGyroI[axis] = 0; |
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ITerm = (errorGyroI[axis] >> 7) * conf.pid[axis].I8 >> 6; // 16 bits is ok here 16000/125 = 128 ; 128*250
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// PTerm = mul(rc, conf.pid[axis].P8) >> 6;
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PTerm = (rc * conf.pid[axis].P8) >> 6; |
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if( |
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flags.ANGLE_MODE || |
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flags.HORIZON_MODE |
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){ |
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// axis relying on ACC
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// 50 degrees max inclination
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errorAngle = constrain(rc + GPS_angle[axis], -500, +500) - att.angle[axis] + conf.angleTrim[axis]; // 16 bits is ok
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); |
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// PTermACC = mul(errorAngle, conf.pid[PIDLEVEL].P8) >> 7; // 32 bits is needed for calculation: errorAngle*P8 could
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PTermACC = (errorAngle * conf.pid[PIDLEVEL].P8) >> 7; // 32 bits is needed for calculation: errorAngle*P8 could
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int16_t limit = conf.pid[PIDLEVEL].D8 * 5; |
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PTermACC = constrain(PTermACC, -limit, +limit); |
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// ITermACC = mul(errorAngleI[axis], conf.pid[PIDLEVEL].I8) >> 12; // 32 bits is needed for calculation:10000*I8 c
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ITermACC = (errorAngleI[axis] * conf.pid[PIDLEVEL].I8) >> 12; // 32 bits is needed for calculation:10000*I8 c
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ITerm = ITermACC + ((ITerm-ITermACC) * prop >> 9); |
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PTerm = PTermACC + ((PTerm-PTermACC) * prop >> 9); |
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} |
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// PTerm -= mul(imu.gyroData[axis], dynP8[axis]) >> 6; // 32 bits is needed for calculation
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PTerm -= (imu.gyroData[axis] * dynP8[axis]) >> 6; // 32 bits is needed for calculation
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delta = imu.gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is
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lastGyro[axis] = imu.gyroData[axis]; |
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DTerm = delta1[axis] + delta2[axis] + delta; |
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delta2[axis] = delta1[axis]; |
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delta1[axis] = delta; |
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// DTerm = mul(DTerm,dynD8[axis]) >> 5; // 32 bits is needed for calculation
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DTerm = (DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm - DTerm; |
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} // End of for(axis...
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// YAW
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#define GYRO_P_MAX 300
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#define GYRO_I_MAX 250
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// rc = mul(rcCommand[YAW] , (2 * conf.yawRate + 30)) >> 5;
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rc = (rcCommand[YAW] * (2 * conf.yawRate + 30)) >> 5; |
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error = rc - imu.gyroData[YAW]; |
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// errorGyroI_YAW += mul(error,conf.pid[YAW].I8);
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errorGyroI_YAW += (error * conf.pid[YAW].I8); |
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errorGyroI_YAW = constrain(errorGyroI_YAW, 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28)); |
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if(abs(rc) > 50) |
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errorGyroI_YAW = 0; |
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// PTerm = mul(error,conf.pid[YAW].P8) >> 6;
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PTerm = (error * conf.pid[YAW].P8) >> 6; |
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ITerm = constrain((int16_t)(errorGyroI_YAW >> 13), -GYRO_I_MAX, +GYRO_I_MAX); |
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axisPID[YAW] = PTerm + ITerm; |
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#elif PID_CONTROLLER == 2 // alexK
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#define GYRO_I_MAX 256
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#define ACC_I_MAX 256
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prop = _min(max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])), 500); // range [0;500]
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// ----------PID controller----------
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for(axis = 0; axis < 3; axis++){ |
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//-----Get the desired angle rate depending on flight mode
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if( |
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(flags.ANGLE_MODE || flags.HORIZON_MODE) && |
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axis < 2 |
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){ |
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// MODE relying on ACC
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// Calculate error and limit the angle to 50 degrees max inclination
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errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -500, +500) - att.angle[axis] + conf.angleTrim[axis]; // 16
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} |
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if(axis == 2){ |
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// YAW is always gyro-controlled (MAG correction is applied to rcCommand)
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AngleRateTmp = (((int32_t) (conf.yawRate + 27) * rcCommand[2]) >> 5); |
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} else { |
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if(!flags.ANGLE_MODE){ |
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// Control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRateTmp = ((int32_t) (conf.rollPitchRate + 27) * rcCommand[axis]) >> 4; |
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if(flags.HORIZON_MODE){ |
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// Mix up angle error to desired AngleRateTmp to add a little auto-level feel
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AngleRateTmp += ((int32_t) errorAngle * conf.pid[PIDLEVEL].I8) >> 8; |
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} |
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} else { |
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//it's the ANGLE mode - control is angle based, so control loop is needed
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AngleRateTmp = ((int32_t) errorAngle * conf.pid[PIDLEVEL].P8) >> 4; |
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} |
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} |
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// --------low-level gyro-based PID. ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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RateError = AngleRateTmp - imu.gyroData[axis]; |
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// -----calculate P component
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PTerm = ((int32_t) RateError * conf.pid[axis].P8) >> 7; |
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// -----calculate I component
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// there should be no division before accumulating the error to integrator, because the precision would be reduced.
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// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
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// Time correction (to avoid different I scaling for different builds based on average cycle time)
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// is normalized to cycle time = 2048.
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errorGyroI[axis] += (((int32_t) RateError * cycleTime) >> 11) * conf.pid[axis].I8; |
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// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -GYRO_I_MAX << 13, (int32_t) +GYRO_I_MAX << 13); |
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ITerm = errorGyroI[axis] >> 13; |
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// -----calculate D-term
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delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited
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lastError[axis] = RateError; |
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// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
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// would be scaled by different dt each time. Division by dT fixes that.
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delta = ((int32_t) delta * ((uint16_t)0xFFFF / (cycleTime >> 4))) >> 6; |
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// add moving average here to reduce noise
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deltaSum = delta1[axis] + delta2[axis] + delta; |
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delta2[axis] = delta1[axis]; |
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delta1[axis] = delta; |
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// DTerm = (deltaSum*conf.pid[axis].D8)>>8;
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// Solve overflow in calculation above...
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DTerm = ((int32_t)deltaSum*conf.pid[axis].D8) >> 8; |
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// -----calculate total PID output
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axisPID[axis] = PTerm + ITerm + DTerm; |
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} |
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#else
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#error "*** you must set PID_CONTROLLER to one existing implementation"
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#endif
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mixTable(); |
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// Do not update servos during unarmed calibration of sensors which are sensitive to vibration
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/********************
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#if defined(DISABLE_SERVOS_WHEN_UNARMED)
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if(flags.ARMED) |
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writeServos(); |
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#else
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if( |
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(flags.ARMED) || |
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((!calibratingG) && (!calibratingA))) |
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writeServos(); |
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#endif
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********************/ |
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writeMotors(); |
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} |
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void TASK::process_rc(void) { |
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} |
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void TASK::process_modules(void) { |
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} |
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@ -1,164 +0,0 @@ |
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#ifndef TASK_H |
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#define TASK_H |
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#include "Arduino.h" |
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#include "main.h" |
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class TASK { |
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public: |
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TASK(void); |
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void begin(void); |
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void run(void); |
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uint8_t rcDelayCommand; // This indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors |
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uint8_t rcSticks; // This hold sticks position for command combos |
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uint8_t axis, i; |
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int16_t error, errorAngle; |
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int16_t delta; |
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int16_t PTerm = 0, ITerm = 0, DTerm, PTermACC, ITermACC; |
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int16_t lastGyro[2] = {0, 0}; |
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int16_t errorAngleI[2] = {0, 0}; |
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#if PID_CONTROLLER == 1 |
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int32_t errorGyroI_YAW; |
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int16_t delta1[2], delta2[2]; |
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int16_t errorGyroI[2] = {0, 0}; |
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#elif PID_CONTROLLER == 2 |
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int16_t delta1[3], delta2[3]; |
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int32_t errorGyroI[3] = {0, 0, 0}; |
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int16_t lastError[3] = {0, 0, 0}; |
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int16_t deltaSum; |
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int16_t AngleRateTmp, RateError; |
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#endif |
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uint32_t rcTime = 0; |
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uint32_t currentTime = 0; |
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uint32_t previousTime = 0; |
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int16_t initialThrottleHold; |
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int16_t rc; |
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int32_t prop = 0; |
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int16_t magHold, headFreeModeHold; // [-180; +180] |
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uint16_t cycleTime = 0; // This is the number in micro second to achieve a full loop, it can differ a little and is taken |
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uint16_t calibratingA = 0; // The calibration is done in the main loop. Calibrating decreases at each cycle down to 0, then w |
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uint16_t calibratingB = 0; // Baro calibration = get new ground pressure value |
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uint16_t calibratingG; |
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uint8_t vbatMin = VBATNOMINAL; // Lowest battery voltage in 0.1V steps |
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uint8_t rcOptions[CHECKBOXITEMS]; |
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int16_t sonarAlt; |
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int16_t BaroPID = 0; |
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int16_t errorAltitudeI = 0; |
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// begin GPS common variables and define |
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#if GPS |
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gps_conf_struct GPS_conf; |
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#endif |
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int16_t GPS_angle[2] = {0, 0}; // the angles that must be applied for GPS correction |
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int32_t GPS_coord[2]; |
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int32_t GPS_home[2]; |
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int32_t GPS_hold[2]; |
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int32_t GPS_prev[2]; |
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int32_t GPS_poi[2]; // Coordinates of the current poi |
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int32_t GPS_directionToPoi; // direction to the actual poi (used to set heading to poi) |
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uint8_t GPS_numSat; |
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uint16_t GPS_distanceToHome; // distance to home - unit: meter |
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int16_t GPS_directionToHome; // direction to home - unit: degree |
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uint16_t GPS_altitude; // GPS altitude - unit: meter |
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uint16_t GPS_speed; // GPS speed - unit: cm/s |
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uint8_t GPS_update = 0; // a binary toogle to distinct a GPS position update |
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uint16_t GPS_ground_course = 0; // - unit: degree*10 |
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uint32_t GPS_time; |
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uint8_t GPS_mode; // contains the current selected gps flight mode |
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uint8_t NAV_error = 0; // Last error situation of the nav engine |
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uint8_t NAV_state = 0; // State of the nav engine |
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uint8_t GPS_saved_mission_state; // The mission state saved when poshold invoked during mission |
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uint8_t prv_gps_modes = 0; // GPS_checkbox items packed into 1 byte for checking GPS mode changes |
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uint32_t nav_timer_stop = 0; // common timer used in navigation (contains the desired stop time in millis() |
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uint16_t nav_hold_time; // time in seconds to hold position |
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uint8_t NAV_paused_at = 0; // This contains the mission step where poshold paused the runing mission. |
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uint8_t next_step = 1; // The mission step which is upcoming it equals with the mission_step stored in EEPROM |
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int16_t jump_times = -10; // How many loops do we have to do (alt/100 from mission step) -10 means not used jet, -1 unlimited |
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uint8_t isAltHoldChanged = 0; |
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uint16_t AltHoldCorr = 0; |
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uint32_t AltHold = 0; // in cm |
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// Altitude control state |
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#define ASCENDING 1 |
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#define DESCENDING -1 |
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#define REACHED_ALT 0 |
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// The orginal altitude used as base our new altitude during nav |
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int32_t original_altitude; |
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// This is the target what we want to reach |
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int32_t target_altitude; |
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// This is the interim value which is feeded into the althold controller |
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int32_t alt_to_hold; |
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uint32_t alt_change_timer; |
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int8_t alt_change_flag; |
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uint32_t alt_change; |
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uint8_t land_detect; // land detector variable |
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uint8_t alarmArray[ALRM_FAC_SIZE]; // array |
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#if GPS |
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// Mission step structure |
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mission_step_struct mission_step; |
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#endif |
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// Possible action codes for a mission step |
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#define MISSION_WAYPOINT 1 //Set waypoint |
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#define MISSION_HOLD_UNLIM 2 //Poshold unlimited |
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#define MISSION_HOLD_TIME 3 //Hold for a predetermined time |
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#define MISSION_RTH 4 //Return to HOME |
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#define MISSION_SET_POI 5 //Set POINT of interest |
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#define MISSION_JUMP 6 //Jump to the given step (#times) |
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#define MISSION_SET_HEADING 7 //Set heading to a given orientation (parameter 1 is the waym 0-359 degree |
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#define MISSION_LAND 8 //Land at the given position |
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#define MISSION_FLAG_END 0xA5 //Flags that this is the last step |
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#define MISSION_FLAG_CRC_ERROR 0xFE //Returned WP had an EEPROM CRC error |
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#define MISSION_FLAG_HOME 0x01 //Returned WP is the home position |
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#define MISSION_FLAG_HOLD 0x02 //Returned WP is the hold position |
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#define MISSION_FLAG_DO_LAND 0x20 //Land when reached desired point (used in RTH) |
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#define MISSION_FLAG_NAV_IN_PROG 0xff //Navigation is in progress, returned wp is home |
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#define LAT 0 |
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#define LON 1 |
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// The desired bank towards North (Positive) or South (Negative) : latitude |
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// The desired bank towards East (Positive) or West (Negative) : longitude |
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int16_t nav[2]; |
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int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother |
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#if BARO |
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int32_t baroPressure; |
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int16_t baroTemperature; |
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int32_t baroPressureSum; |
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#endif |
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alt_t alt; |
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att_t att; |
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imu_t imu; |
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conf_t conf; |
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static uint8_t dynP8[2], dynD8[2]; |
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#if defined(THROTTLE_ANGLE_CORRECTION) |
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int16_t throttleAngleCorrection = 0; // Correction of throttle in lateral wind, |
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int8_t cosZ = 100; // cos(angleZ)*100 |
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#endif |
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int16_t axisPID[3]; |
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private: |
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void process_rc(void); |
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void process_modules(void); |
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}; |
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|
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#endif |
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