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294 lines
7.7 KiB
294 lines
7.7 KiB
void init_rc_in() |
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{ |
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read_EEPROM_radio(); // read Radio limits |
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rc_1.set_angle(4500); |
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rc_1.dead_zone = 60; |
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rc_2.set_angle(4500); |
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rc_2.dead_zone = 60; |
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rc_3.set_range(0,1000); |
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rc_3.dead_zone = 20; |
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rc_3.scale_output = .9; |
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rc_4.set_angle(6000); |
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rc_4.dead_zone = 500; |
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rc_5.set_range(0,1000); |
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rc_5.set_filter(false); |
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// for kP values |
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//rc_6.set_range(200,800); |
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rc_6.set_range(0,4000); |
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// for camera angles |
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//rc_6.set_angle(4500); |
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//rc_6.dead_zone = 60; |
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rc_7.set_range(0,1000); |
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rc_8.set_range(0,1000); |
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} |
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void init_rc_out() |
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{ |
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#if ARM_AT_STARTUP == 1 |
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motor_armed = 1; |
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#endif |
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs |
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APM_RC.OutputCh(CH_2, rc_3.radio_min); |
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APM_RC.OutputCh(CH_3, rc_3.radio_min); |
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APM_RC.OutputCh(CH_4, rc_3.radio_min); |
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APM_RC.Init(); // APM Radio initialization |
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs |
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APM_RC.OutputCh(CH_2, rc_3.radio_min); |
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APM_RC.OutputCh(CH_3, rc_3.radio_min); |
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APM_RC.OutputCh(CH_4, rc_3.radio_min); |
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} |
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void read_radio() |
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{ |
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rc_1.set_pwm(APM_RC.InputCh(CH_1)); |
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rc_2.set_pwm(APM_RC.InputCh(CH_2)); |
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rc_3.set_pwm(APM_RC.InputCh(CH_3)); |
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rc_4.set_pwm(APM_RC.InputCh(CH_4)); |
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rc_5.set_pwm(APM_RC.InputCh(CH_5)); |
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rc_6.set_pwm(APM_RC.InputCh(CH_6)); |
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rc_7.set_pwm(APM_RC.InputCh(CH_7)); |
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rc_8.set_pwm(APM_RC.InputCh(CH_8)); |
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//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in); |
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} |
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void trim_radio() |
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{ |
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for (byte i = 0; i < 30; i++){ |
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read_radio(); |
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} |
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rc_1.trim(); // roll |
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rc_2.trim(); // pitch |
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rc_4.trim(); // yaw |
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} |
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void trim_yaw() |
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{ |
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for (byte i = 0; i < 30; i++){ |
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read_radio(); |
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} |
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rc_4.trim(); // yaw |
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} |
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#define ARM_DELAY 10 |
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#define DISARM_DELAY 10 |
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void arm_motors() |
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{ |
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static byte arming_counter; |
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// Arm motor output : Throttle down and full yaw right for more than 2 seconds |
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if (rc_3.control_in == 0){ |
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if (rc_4.control_in > 2700) { |
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if (arming_counter > ARM_DELAY) { |
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motor_armed = true; |
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} else{ |
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arming_counter++; |
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} |
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}else if (rc_4.control_in < -2700) { |
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if (arming_counter > DISARM_DELAY){ |
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motor_armed = false; |
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}else{ |
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arming_counter++; |
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} |
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}else{ |
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arming_counter = 0; |
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} |
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} |
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} |
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/***************************************** |
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* Set the flight control servos based on the current calculated values |
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*****************************************/ |
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void set_servos_4(void) |
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{ |
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static byte num; |
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// Quadcopter mix |
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if (motor_armed == true) { |
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int out_min = rc_3.radio_min; |
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// Throttle is 0 to 1000 only |
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rc_3.servo_out = constrain(rc_3.servo_out, 0, 1000); |
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if(rc_3.servo_out > 0) |
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out_min = rc_3.radio_min + 50; |
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//Serial.printf("out: %d %d %d %d\t\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out); |
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// creates the radio_out and pwm_out values |
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rc_1.calc_pwm(); |
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rc_2.calc_pwm(); |
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rc_3.calc_pwm(); |
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rc_4.calc_pwm(); |
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//Serial.printf("out: %d %d %d %d\n", rc_1.radio_out, rc_2.radio_out, rc_3.radio_out, rc_4.radio_out); |
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//Serial.printf("yaw: %d ", rc_4.radio_out); |
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if(frame_type == PLUS_FRAME){ |
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out; |
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out; |
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motor_out[FRONT] = rc_3.radio_out + rc_2.pwm_out; |
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out; |
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}else if(frame_type == X_FRAME){ |
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int roll_out = rc_1.pwm_out / 2; |
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int pitch_out = rc_2.pwm_out / 2; |
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out; |
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motor_out[LEFT] = rc_3.radio_out + roll_out - pitch_out; |
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out; |
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out; |
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}else if(frame_type == TRI_FRAME){ |
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// Tri-copter power distribution |
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int roll_out = (float)rc_1.pwm_out * .866; |
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int pitch_out = rc_2.pwm_out / 2; |
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// front two motors |
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motor_out[LEFT] = rc_3.radio_out + roll_out + pitch_out; |
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out; |
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// rear motors |
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out; |
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// servo Yaw |
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//motor_out[FRONT] = rc_4.radio_out; |
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APM_RC.OutputCh(CH_7,rc_4.radio_out); |
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}else if (frame_type == HEXA_FRAME) { |
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// int roll_out = rc_1.pwm_out / 2; |
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// int pitch_out = rc_2.pwm_out / 2; |
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int roll_out = (float)rc_1.pwm_out * .866; |
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int pitch_out = rc_2.pwm_out / 2; |
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out + rc_4.pwm_out; // CCW |
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motor_out[RIGHTFRONT] = rc_3.radio_out - roll_out + pitch_out - rc_4.pwm_out; // CW |
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out - rc_4.pwm_out; // CW |
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out + rc_4.pwm_out; // CCW |
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motor_out[LEFTBACK] = rc_3.radio_out + roll_out - pitch_out + rc_4.pwm_out; // CW |
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out - rc_4.pwm_out; // CCW |
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/* |
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if(counteri == 5) { |
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Serial.printf(" %d %d \n%d %d %d %d \n %d %d \n\n", motor_out[FRONT], motor_out[RIGHTFRONT], motor_out[LEFT], motor_out[RIGHT], roll_out, pitch_out, motor_out[LEFTBACK], motor_out[BACK]); |
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counteri = 0; |
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} |
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counteri++; |
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*/ |
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} else { |
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Serial.print("frame error"); |
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} |
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]); |
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if((frame_type == PLUS_FRAME) || (frame_type == X_FRAME)){ |
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motor_out[RIGHT] += rc_4.pwm_out; |
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motor_out[LEFT] += rc_4.pwm_out; |
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motor_out[FRONT] -= rc_4.pwm_out; |
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motor_out[BACK] -= rc_4.pwm_out; |
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} |
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]); |
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motor_out[RIGHT] = constrain(motor_out[RIGHT], out_min, rc_3.radio_max); |
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motor_out[LEFT] = constrain(motor_out[LEFT], out_min, rc_3.radio_max); |
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motor_out[FRONT] = constrain(motor_out[FRONT], out_min, rc_3.radio_max); |
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motor_out[BACK] = constrain(motor_out[BACK], out_min, rc_3.radio_max); |
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num++; |
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if (num > 50){ |
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num = 0; |
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//debugging with Channel 6 |
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/* |
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// ROLL and PITCH |
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// make sure you init_pids() after changing the kP |
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pid_stabilize_roll.kP((float)rc_6.control_in / 1000); |
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init_pids(); |
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//Serial.print("kP: "); |
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//Serial.println(pid_stabilize_roll.kP(),3); |
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*/ |
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/* |
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// YAW |
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// make sure you init_pids() after changing the kP |
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pid_yaw.kP((float)rc_6.control_in / 1000); |
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init_pids(); |
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*/ |
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} |
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// Send commands to motors |
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if(rc_3.servo_out > 0){ |
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APM_RC.OutputCh(CH_1, motor_out[RIGHT]); |
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APM_RC.OutputCh(CH_2, motor_out[LEFT]); |
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APM_RC.OutputCh(CH_3, motor_out[FRONT]); |
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APM_RC.OutputCh(CH_4, motor_out[BACK]); |
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if (frame_type == HEXA_FRAME) { |
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APM_RC.OutputCh(CH_7, motor_out[RIGHTFRONT]); |
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APM_RC.OutputCh(CH_8, motor_out[LEFTBACK]); |
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} |
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}else{ |
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APM_RC.OutputCh(CH_1, rc_3.radio_min); |
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APM_RC.OutputCh(CH_2, rc_3.radio_min); |
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APM_RC.OutputCh(CH_3, rc_3.radio_min); |
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APM_RC.OutputCh(CH_4, rc_3.radio_min); |
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if (frame_type == HEXA_FRAME) { |
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APM_RC.OutputCh(CH_7, rc_3.radio_min); |
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APM_RC.OutputCh(CH_8, rc_3.radio_min); |
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} |
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} |
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// InstantPWM |
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APM_RC.Force_Out0_Out1(); |
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APM_RC.Force_Out2_Out3(); |
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}else{ |
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// Send commands to motors |
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APM_RC.OutputCh(CH_1, rc_3.radio_min); |
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APM_RC.OutputCh(CH_2, rc_3.radio_min); |
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APM_RC.OutputCh(CH_3, rc_3.radio_min); |
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APM_RC.OutputCh(CH_4, rc_3.radio_min); |
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// reset I terms of PID controls |
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reset_I(); |
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// Initialize yaw command to actual yaw when throttle is down... |
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rc_4.control_in = ToDeg(yaw); |
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} |
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}
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