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/* 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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