From dfbb403fcd4d3d6ceec22d2e70091686c53606f3 Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Thu, 7 Jun 2012 19:54:38 +0200
Subject: initial code import

---
 ctrl/flight-control.vala | 142 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 142 insertions(+)
 create mode 100644 ctrl/flight-control.vala

(limited to 'ctrl/flight-control.vala')

diff --git a/ctrl/flight-control.vala b/ctrl/flight-control.vala
new file mode 100644
index 0000000..00e7b31
--- /dev/null
+++ b/ctrl/flight-control.vala
@@ -0,0 +1,142 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ * Copyright 2012, Ted Carancho
+ *
+ * Ported from AeroQuad
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+public class FlightControl {
+	MotorController motor;
+	FlightMode mode;
+	PID[] pid;
+	Kinematics k;
+
+	public FlightControl() {
+		motor = new AtmostripeMotorController();
+		pid = new PID[PIDEntry.length];
+		k = new Kinematics(0, 0); // TODO: read compass instead of using 0,0
+	}
+
+	/**
+	 * calculateFlightError
+	 *
+	 * Calculate roll/pitch axis error with gyro/accel data to
+	 * compute motor command thrust so used command are executed
+	 */
+	void calculateFlightError(out double roll, out double pitch) {
+		roll = 0; pitch = 0;
+
+		if (mode == FlightMode.ATTITUDE_FLIGHT_MODE) {
+		}
+#if 0
+		if (mode == FlightMode.ATTITUDE_FLIGHT_MODE) {
+			// 0.0 -> (receiverCommand[AXIS.X] - receiverZero[AXIS.X]) * ATTITUDE_SCALING
+			double rollAttitudeCmd   = pid[PIDEntry.ATTITUDE_XAXIS].update(0.1, k.kinematicsAngle[AXIS.X]);
+			// 0.0 -> (receiverCommand[AXIS.Y] - receiverZero[AXIS.Y]) * ATTITUDE_SCALING
+			double pitchAttitudeCmd  = pid[PIDEntry.ATTITUDE_YAXIS].update(0.1, k.kinematicsAngle[AXIS.Y]);
+
+			roll   = pid[PIDEntry.ATTITUDE_GYRO_XAXIS].update(rollAttitudeCmd, gyroRate[AXIS.X]*1.2);
+			pitch  = pid[PIDEntry.ATTITUDE_GYRO_YAXIS].update(pitchAttitudeCmd, -gyroRate[AXIS.Y]*1.2);
+		}
+#endif
+#if 0
+			double pitchAttitudeCmd = updatePID((receiverCommand[AXIS.Y] - receiverZero[AXIS.Y]) * ATTITUDE_SCALING, -kinematicsAngle[AXIS.Y], &PID[ATTITUDE_YAXIS_PID_IDX]);
+			roll   = updatePID(rollAttitudeCmd, gyroRate[XAXIS]*1.2, &PID[ATTITUDE_GYRO_XAXIS_PID_IDX]);
+			pitch  = updatePID(pitchAttitudeCmd, -gyroRate[YAXIS]*1.2, &PID[ATTITUDE_GYRO_YAXIS_PID_IDX]);
+		}
+		else {
+			roll  = updatePID(getReceiverSIData(XAXIS), gyroRate[XAXIS]*0.8, &PID[RATE_XAXIS_PID_IDX]);
+			pitch = updatePID(getReceiverSIData(YAXIS), -gyroRate[YAXIS]*0.8, &PID[RATE_YAXIS_PID_IDX]);
+		}
+#endif
+	}
+
+#if 0
+	/**
+	 * processThrottleCorrection
+	 *
+	 * This function will add some throttle imput if the craft is angled
+	 * this prevent the craft to loose altitude when angled.
+	 * it also add the battery throttle correction in case
+	 * of we are in auto-descent.
+	 *
+	 * Special thank to Ziojo for this.
+	 */
+	void processThrottleCorrection() {
+		int throttleAsjust = throttle / (cos (radians (kinematicsAngle[XAXIS])) * cos (radians (kinematicsAngle[YAXIS])));
+		throttleAsjust = constrain ((throttleAsjust - throttle), 0, 160); //compensate max  +/- 25 deg XAXIS or YAXIS or  +/- 18 ( 18(XAXIS) + 18(YAXIS))
+		throttle = throttle + throttleAsjust + (int)batteyMonitorThrottleCorrection;
+
+		throttle = constrain(throttle,MINCOMMAND,MAXCOMMAND-150);  // limmit throttle to leave some space for motor correction in max throttle manuever
+	}
+#endif
+
+	/**
+	 * processHeading
+	 *
+	 * This function will calculate the craft heading correction depending
+	 * of the users command. Heading correction is process with the gyro
+	 * or a magnetometer
+	 */
+	private void processHeading() {
+		// TODO
+	}
+
+	/**
+	 * processFlightControl
+	 *
+	 * Main flight control processos function
+	 */
+	public void processFlightControl() {
+		double roll, pitch;
+		calculateFlightError(out roll, out pitch);
+		processHeading();
+
+#if 0
+		/* 50Hz tasks */
+		processAltitudeHold();
+		processThrottleCorrection();
+
+		/* if running */
+		applyMotorCommand();
+
+		processMinMaxCommand();
+
+		/* Allows quad to do acrobatics by lowering power to opposite motors during hard manuevers */
+		//processHardManuevers();
+
+		/* If throttle in minimum position, don't apply yaw */
+		if (receiverCommand[THROTTLE] < MINCHECK) {
+			for (byte motor = 0; motor < LASTMOTOR; motor++) {
+				motorMaxCommand[motor] = minArmedThrottle;
+			}
+		}
+
+		/* Apply limits to motor commands */
+		for (byte motor = 0; motor < LASTMOTOR; motor++) {
+			motorCommand[motor] = constrain(motorCommand[motor], motorMinCommand[motor], motorMaxCommand[motor]);
+		}
+
+		/* ESC Calibration */
+		if (motorArmed == OFF) {
+			processCalibrateESC();
+		}
+
+		if (motorArmed == ON && safetyCheck == ON) {
+			writeMotors();
+		}
+#endif
+	}
+}
-- 
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