@ -1,7 +1,7 @@
# include "board.h"
# include "mw.h"
/ / February 2012 V1 . dev
/ / March 2012 V2 .0 _pre_version_1
# define CHECKBOXITEMS 11
# define PIDITEMS 8
@ -24,17 +24,17 @@ volatile int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0 ;
int16_t rcData [ 8 ] ; / / interval [ 1000 ; 2000 ]
int16_t rcCommand [ 4 ] ; / / interval [ 1000 ; 2000 ] for THROTTLE and [ - 500 ; + 500 ] for ROLL / PITCH / YAW
uint8_t rcRate8 ;
uint8_t rcExpo8 ;
/ / uint8_t rcRate8 ;
/ / uint8_t rcExpo8 ;
int16_t lookupRX [ 7 ] ; / / lookup table for expo & RC rate
uint8_t P8 [ 8 ] , I8 [ 8 ] , D8 [ 8 ] ; / / 8 bits is much faster and the code is much shorter
/ / uint8_t P8 [ 8 ] , I8 [ 8 ] , D8 [ 8 ] ; / / 8 bits is much faster and the code is much shorter
uint8_t dynP8 [ 3 ] , dynI8 [ 3 ] , dynD8 [ 3 ] ;
uint8_t rollPitchRate ;
uint8_t yawRate ;
uint8_t dynThrPID ;
uint8_t activate1 [ CHECKBOXITEMS ] ;
uint8_t activate2 [ CHECKBOXITEMS ] ;
/ / uint8_t rollPitchRate ;
/ / uint8_t yawRate ;
/ / uint8_t dynThrPID ;
/ / uint8_t activate1 [ CHECKBOXITEMS ] ;
/ / uint8_t activate2 [ CHECKBOXITEMS ] ;
uint8_t rcOptions [ CHECKBOXITEMS ] ;
uint8_t okToArm = 0 ;
uint8_t accMode = 0 ; / / if level mode is a activated
@ -54,6 +54,8 @@ uint8_t GPS_fix, GPS_fix_home = 0;
uint8_t GPS_numSat ;
uint16_t GPS_distanceToHome ; / / in meters
int16_t GPS_directionToHome = 0 ; / / in degrees
uint16_t GPS_distanceToHome , GPS_distanceToHold ; / / distance to home or hold point in meters
int16_t GPS_directionToHome , GPS_directionToHold ; / / direction to home or hol point in degrees
uint8_t GPS_update = 0 ; / / it ' s a binary toogle to distinct a GPS position update
int16_t GPS_angle [ 2 ] ; / / it ' s the angles that must be applied for GPS correction
@ -73,7 +75,7 @@ uint16_t AccInflightCalibrationActive = 0;
uint32_t pMeter [ PMOTOR_SUM + 1 ] ; / / we use [ 0 : 7 ] for eight motors , one extra for sum
uint8_t pMeterV ; / / dummy to satisfy the paramStruct logic in ConfigurationLoop ( )
uint32_t pAlarm ; / / we scale the eeprom value from [ 0 : 255 ] to this value we can directly compare to the sum in pMeter [ 6 ]
uint8_t powerTrigger1 = 0 ; / / trigger for alarm based on power consumption
/ / uint8_t powerTrigger1 = 0 ;
uint16_t powerValue = 0 ; / / last known current
uint16_t intPowerMeterSum , intPowerTrigger1 ;
@ -117,13 +119,13 @@ void annexCode(void)
if ( rcData [ THROTTLE ] < 1500 ) {
prop2 = 100 ;
} else if ( rcData [ THROTTLE ] < 2000 ) {
prop2 = 100 - ( uint16_t ) dynThrPID * ( rcData [ THROTTLE ] - 1500 ) / 500 ;
prop2 = 100 - ( uint16_t ) cfg . dynThrPID * ( rcData [ THROTTLE ] - 1500 ) / 500 ;
} else {
prop2 = 100 - dynThrPID ;
prop2 = 100 - cfg . dynThrPID ;
}
for ( axis = 0 ; axis < 3 ; axis + + ) {
uint16_t tmp = min ( abs ( rcData [ axis ] - MIDRC ) , 500 ) ;
uint16_t tmp = min ( abs ( rcData [ axis ] - cfg . midrc ) , 500 ) ;
# if defined(DEADBAND)
if ( tmp > DEADBAND ) {
tmp - = DEADBAND ;
@ -134,18 +136,18 @@ void annexCode(void)
if ( axis ! = 2 ) { / / ROLL & PITCH
uint16_t tmp2 = tmp / 100 ;
rcCommand [ axis ] = lookupRX [ tmp2 ] + ( tmp - tmp2 * 100 ) * ( lookupRX [ tmp2 + 1 ] - lookupRX [ tmp2 ] ) / 100 ;
prop1 = 100 - ( uint16_t ) rollPitchRate * tmp / 500 ;
prop1 = 100 - ( uint16_t ) cfg . rollPitchRate * tmp / 500 ;
prop1 = ( uint16_t ) prop1 * prop2 / 100 ;
} else { / / YAW
rcCommand [ axis ] = tmp ;
prop1 = 100 - ( uint16_t ) yawRate * tmp / 500 ;
prop1 = 100 - ( uint16_t ) cfg . yawRate * tmp / 500 ;
}
dynP8 [ axis ] = ( uint16_t ) P8 [ axis ] * prop1 / 100 ;
dynD8 [ axis ] = ( uint16_t ) D8 [ axis ] * prop1 / 100 ;
if ( rcData [ axis ] < MIDRC )
dynP8 [ axis ] = ( uint16_t ) cfg . P8 [ axis ] * prop1 / 100 ;
dynD8 [ axis ] = ( uint16_t ) cfg . D8 [ axis ] * prop1 / 100 ;
if ( rcData [ axis ] < cfg . midrc )
rcCommand [ axis ] = - rcCommand [ axis ] ;
}
rcCommand [ THROTTLE ] = MINTHROTTLE + ( int32_t ) ( MAXTHROTTLE - MINTHROTTLE ) * ( rcData [ THROTTLE ] - MINCHECK ) / ( 2000 - MINCHECK ) ;
rcCommand [ THROTTLE ] = cfg . minthrottle + ( int32_t ) ( cfg . maxthrottle - cfg . minthrottle ) * ( rcData [ THROTTLE ] - MINCHECK ) / ( 2000 - MINCHECK ) ;
if ( headFreeMode ) {
float radDiff = ( heading - headFreeModeHold ) * 0.0174533f ; / / where PI / 180 ~ = 0.0174533
@ -251,7 +253,7 @@ void annexCode(void)
# if defined(POWERMETER)
intPowerMeterSum = ( pMeter [ PMOTOR_SUM ] / PLEVELDIV ) ;
intPowerTrigger1 = powerTrigger1 * PLEVELSCALE ;
intPowerTrigger1 = cfg . powerTrigger1 * PLEVELSCALE ;
# endif
# ifdef LCD_TELEMETRY_AUTO
@ -329,7 +331,7 @@ void loop(void)
static int16_t errorAngleI [ 2 ] = { 0 , 0 } ;
static uint32_t rcTime = 0 ;
static int16_t initialThrottleHold ;
# if defined(SPEKTRUM)
if ( rcFrameComplete )
computeRC ( ) ;
@ -392,7 +394,7 @@ void loop(void)
}
}
# endif
else if ( ( activate1 [ BOXARM ] > 0 ) | | ( activate2 [ BOXARM ] > 0 ) ) {
else if ( ( cfg . activate1 [ BOXARM ] > 0 ) | | ( cfg . activate2 [ BOXARM ] > 0 ) ) {
if ( rcOptions [ BOXARM ] & & okToArm ) {
armed = 1 ;
headFreeModeHold = heading ;
@ -431,25 +433,25 @@ void loop(void)
calibratingM = 1 ; / / MAG calibration request
rcDelayCommand + + ;
} else if ( rcData [ PITCH ] > MAXCHECK ) {
accTrim [ PITCH ] + = 2 ;
cfg . accTrim [ PITCH ] + = 2 ;
writeParams ( ) ;
# if defined(LED_RING)
blinkLedRing ( ) ;
# endif
} else if ( rcData [ PITCH ] < MINCHECK ) {
accTrim [ PITCH ] - = 2 ;
cfg . accTrim [ PITCH ] - = 2 ;
writeParams ( ) ;
# if defined(LED_RING)
blinkLedRing ( ) ;
# endif
} else if ( rcData [ ROLL ] > MAXCHECK ) {
accTrim [ ROLL ] + = 2 ;
cfg . accTrim [ ROLL ] + = 2 ;
writeParams ( ) ;
# if defined(LED_RING)
blinkLedRing ( ) ;
# endif
} else if ( rcData [ ROLL ] < MINCHECK ) {
accTrim [ ROLL ] - = 2 ;
cfg . accTrim [ ROLL ] - = 2 ;
writeParams ( ) ;
# if defined(LED_RING)
blinkLedRing ( ) ;
@ -483,7 +485,7 @@ void loop(void)
# endif
for ( i = 0 ; i < CHECKBOXITEMS ; i + + ) {
rcOptions [ i ] = ( ( ( rcData [ AUX1 ] < 1300 ) | ( 1300 < rcData [ AUX1 ] & & rcData [ AUX1 ] < 1700 ) < < 1 | ( rcData [ AUX1 ] > 1700 ) < < 2 | ( rcData [ AUX2 ] < 1300 ) < < 3 | ( 1300 < rcData [ AUX2 ] & & rcData [ AUX2 ] < 1700 ) < < 4 | ( rcData [ AUX2 ] > 1700 ) < < 5 ) & activate1 [ i ] ) | | ( ( ( rcData [ AUX3 ] < 1300 ) | ( 1300 < rcData [ AUX3 ] & & rcData [ AUX3 ] < 1700 ) < < 1 | ( rcData [ AUX3 ] > 1700 ) < < 2 | ( rcData [ AUX4 ] < 1300 ) < < 3 | ( 1300 < rcData [ AUX4 ] & & rcData [ AUX4 ] < 1700 ) < < 4 | ( rcData [ AUX4 ] > 1700 ) < < 5 ) & activate2 [ i ] ) ;
rcOptions [ i ] = ( ( ( rcData [ AUX1 ] < 1300 ) | ( 1300 < rcData [ AUX1 ] & & rcData [ AUX1 ] < 1700 ) < < 1 | ( rcData [ AUX1 ] > 1700 ) < < 2 | ( rcData [ AUX2 ] < 1300 ) < < 3 | ( 1300 < rcData [ AUX2 ] & & rcData [ AUX2 ] < 1700 ) < < 4 | ( rcData [ AUX2 ] > 1700 ) < < 5 ) & cfg . activate1 [ i ] ) | | ( ( ( rcData [ AUX3 ] < 1300 ) | ( 1300 < rcData [ AUX3 ] & & rcData [ AUX3 ] < 1700 ) < < 1 | ( rcData [ AUX3 ] > 1700 ) < < 2 | ( rcData [ AUX4 ] < 1300 ) < < 3 | ( 1300 < rcData [ AUX4 ] & & rcData [ AUX4 ] < 1700 ) < < 4 | ( rcData [ AUX4 ] > 1700 ) < < 5 ) & cfg . activate2 [ i ] ) ;
}
/ / note : if FAILSAFE is disable , failsafeCnt > 5 * FAILSAVE_DELAY is always false
@ -512,7 +514,6 @@ void loop(void)
AltHold = EstAlt ;
initialThrottleHold = rcCommand [ THROTTLE ] ;
errorAltitudeI = 0 ;
EstVelocity = 0 ;
BaroPID = 0 ;
}
} else
@ -539,16 +540,21 @@ void loop(void)
} else
GPSModeHome = 0 ;
if ( rcOptions [ BOXGPSHOLD ] ) {
GPSModeHold = 1 ;
} else
if ( GPSModeHold = = 0 ) {
GPSModeHold = 1 ;
GPS_latitude_hold = GPS_latitude ;
GPS_longitude_hold = GPS_longitude ;
}
} else {
GPSModeHold = 0 ;
}
# endif
if ( rcOptions [ BOXPASSTHRU ] ) {
passThruMode = 1 ;
} else
passThruMode = 0 ;
} else { / / not in rc loop
static int8_t taskOrder = 0 ; / / never call all function in the same loop
static int8_t taskOrder = 0 ; / / never call all function in the same loop , to avoid high delay spikes
switch ( taskOrder ) {
case 0 :
taskOrder + + ;
@ -559,10 +565,19 @@ void loop(void)
taskOrder + + ;
if ( sensors ( SENSOR_BARO ) )
Baro_update ( ) ;
break ;
case 2 :
taskOrder + + ;
if ( sensors ( SENSOR_BARO ) )
getEstimatedAltitude ( ) ;
break ;
case 3 :
taskOrder + + ;
# if GPS
GPS_NewData ( ) ;
# endif
break ;
default :
taskOrder = 0 ;
break ;
@ -584,7 +599,7 @@ void loop(void)
if ( dif > = + 180 )
dif - = 360 ;
if ( smallAngle25 )
rcCommand [ YAW ] - = dif * P8 [ PIDMAG ] / 30 ; / / 18 deg
rcCommand [ YAW ] - = dif * cfg . P8 [ PIDMAG ] / 30 ; / / 18 deg
} else
magHold = heading ;
}
@ -592,23 +607,30 @@ void loop(void)
if ( sensors ( SENSOR_BARO ) ) {
if ( baroMode ) {
if ( abs ( rcCommand [ THROTTLE ] - initialThrottleHold ) > 20 ) {
AltHold = EstAlt ;
initialThrottleHold = rcCommand [ THROTTLE ] ;
errorAltitudeI = 0 ;
EstVelocity = 0 ;
BaroPID = 0 ;
baroMode = 0 ; / / so that a new althold reference is defined
}
rcCommand [ THROTTLE ] = initialThrottleHold + BaroPID ;
}
}
# if GPS
if ( ( GPSModeHome = = 1 ) ) {
float radDiff = ( GPS_directionToHome - heading ) * 0.0174533f ;
GPS_angle [ ROLL ] = constrain ( P8 [ PIDGPS ] * sinf ( radDiff ) * GPS_distanceToHome / 10 , - D8 [ PIDGPS ] * 10 , + D8 [ PIDGPS ] * 10 ) ; / / with P = 5 , 1 meter = 0.5 deg inclination
GPS_angle [ PITCH ] = constrain ( P8 [ PIDGPS ] * cosf ( radDiff ) * GPS_distanceToHome / 10 , - D8 [ PIDGPS ] * 10 , + D8 [ PIDGPS ] * 10 ) ; / / max inclination = D deg
} else {
GPS_angle [ ROLL ] = 0 ;
uint16_t GPS_dist ;
int16_t GPS_dir ;
if ( ( GPSModeHome = = 0 & & GPSModeHold = = 0 ) | | ( GPS_fix_home = = 0 ) ) {
GPS_angle [ ROLL ] = 0 ;
GPS_angle [ PITCH ] = 0 ;
} else {
if ( GPSModeHome = = 1 ) {
GPS_dist = GPS_distanceToHome ;
GPS_dir = GPS_directionToHome ;
}
if ( GPSModeHold = = 1 ) {
GPS_dist = GPS_distanceToHold ;
GPS_dir = GPS_directionToHold ;
}
float radDiff = ( GPS_dir - heading ) * 0.0174533f ;
GPS_angle [ ROLL ] = constrain ( cfg . P8 [ PIDGPS ] * sin ( radDiff ) * GPS_dist / 10 , - cfg . D8 [ PIDGPS ] * 10 , + cfg . D8 [ PIDGPS ] * 10 ) ; / / with P = 5.0 , a distance of 1 meter = 0.5 deg inclination
GPS_angle [ PITCH ] = constrain ( cfg . P8 [ PIDGPS ] * cos ( radDiff ) * GPS_dist / 10 , - cfg . D8 [ PIDGPS ] * 10 , + cfg . D8 [ PIDGPS ] * 10 ) ; / / max inclination = D deg
}
# endif
@ -616,18 +638,18 @@ void loop(void)
for ( axis = 0 ; axis < 3 ; axis + + ) {
if ( accMode = = 1 & & axis < 2 ) { / / LEVEL MODE
/ / 50 degrees max inclination
errorAngle = constrain ( 2 * rcCommand [ axis ] - GPS_angle [ axis ] , - 500 , + 500 ) - angle [ axis ] + accTrim [ axis ] ; / / 16 bits is ok here
errorAngle = constrain ( 2 * rcCommand [ axis ] - GPS_angle [ axis ] , - 500 , + 500 ) - angle [ axis ] + cfg . accTrim [ axis ] ; / / 16 bits is ok here
# ifdef LEVEL_PDF
PTerm = - ( int32_t ) angle [ axis ] * P8 [ PIDLEVEL ] / 100 ;
PTerm = - ( int32_t ) angle [ axis ] * cfg . P8 [ PIDLEVEL ] / 100 ;
# else
PTerm = ( int32_t ) errorAngle * P8 [ PIDLEVEL ] / 100 ; / / 32 bits is needed for calculation : errorAngle * P8 [ PIDLEVEL ] could exceed 32768 16 bits is ok for result
PTerm = ( int32_t ) errorAngle * cfg . P8 [ PIDLEVEL ] / 100 ; / / 32 bits is needed for calculation : errorAngle * P8 [ PIDLEVEL ] could exceed 32768 16 bits is ok for result
# endif
PTerm = constrain ( PTerm , - D8 [ PIDLEVEL ] * 5 , + D8 [ PIDLEVEL ] * 5 ) ;
PTerm = constrain ( PTerm , - cfg . D8 [ PIDLEVEL ] * 5 , + cfg . D8 [ PIDLEVEL ] * 5 ) ;
errorAngleI [ axis ] = constrain ( errorAngleI [ axis ] + errorAngle , - 10000 , + 10000 ) ; / / WindUp / / 16 bits is ok here
ITerm = ( ( int32_t ) errorAngleI [ axis ] * I8 [ PIDLEVEL ] ) > > 12 ; / / 32 bits is needed for calculation : 10000 * I8 could exceed 32768 16 bits is ok for result
ITerm = ( ( int32_t ) errorAngleI [ axis ] * cfg . I8 [ PIDLEVEL ] ) > > 12 ; / / 32 bits is needed for calculation : 10000 * I8 could exceed 32768 16 bits is ok for result
} else { / / ACRO MODE or YAW axis
error = ( int32_t ) rcCommand [ axis ] * 10 * 8 / P8 [ axis ] ; / / 32 bits is needed for calculation : 500 * 5 * 10 * 8 = 200000 16 bits is ok for result if P8 > 2 ( P > 0.2 )
error = ( int32_t ) rcCommand [ axis ] * 10 * 8 / cfg . P8 [ axis ] ; / / 32 bits is needed for calculation : 500 * 5 * 10 * 8 = 200000 16 bits is ok for result if P8 > 2 ( P > 0.2 )
error - = gyroData [ axis ] ;
PTerm = rcCommand [ axis ] ;
@ -635,7 +657,7 @@ void loop(void)
errorGyroI [ axis ] = constrain ( errorGyroI [ axis ] + error , - 16000 , + 16000 ) ; / / WindUp / / 16 bits is ok here
if ( abs ( gyroData [ axis ] ) > 640 )
errorGyroI [ axis ] = 0 ;
ITerm = ( errorGyroI [ axis ] / 125 * I8 [ axis ] ) > > 6 ; / / 16 bits is ok here 16000 / 125 = 128 ; 128 * 250 = 32000
ITerm = ( errorGyroI [ axis ] / 125 * cfg . I8 [ axis ] ) > > 6 ; / / 16 bits is ok here 16000 / 125 = 128 ; 128 * 250 = 32000
}
PTerm - = ( int32_t ) gyroData [ axis ] * dynP8 [ axis ] / 10 / 8 ; / / 32 bits is needed for calculation
@ -653,23 +675,4 @@ void loop(void)
mixTable ( ) ;
writeServos ( ) ;
writeMotors ( ) ;
# if GPS
while ( SerialAvailable ( GPS_SERIAL ) ) {
if ( GPS_newFrame ( SerialRead ( GPS_SERIAL ) ) ) {
if ( GPS_update = = 1 )
GPS_update = 0 ;
else
GPS_update = 1 ;
if ( GPS_fix = = 1 & & GPS_numSat = = 4 ) {
if ( GPS_fix_home = = 0 ) {
GPS_fix_home = 1 ;
GPS_latitude_home = GPS_latitude ;
GPS_longitude_home = GPS_longitude ;
}
GPS_distance ( GPS_latitude_home , GPS_longitude_home , GPS_latitude , GPS_longitude , & GPS_distanceToHome , & GPS_directionToHome ) ;
}
}
}
# endif
}
timecop
13 years ago