float updatePID(float command, float state, float deltaT, uint8_t iHold, struct PIDdata *PIDparameters)
{
float error;
float dTerm;
///////////////////////////////////
error = command - state;
if (PIDparameters->type == ANGULAR)
error = standardRadianFormat(error);
///////////////////////////////////
if (iHold == false)
{
PIDparameters->iTerm += error * deltaT;
PIDparameters->iTerm = constrain(PIDparameters->iTerm, -PIDparameters->windupGuard, PIDparameters->windupGuard);
}
///////////////////////////////////
if (PIDparameters->dErrorCalc == D_ERROR) // Calculate D term from error
{
dTerm = (error - PIDparameters->lastDcalcValue) / deltaT;
PIDparameters->lastDcalcValue = error;
}
else // Calculate D term from state
{
dTerm = (PIDparameters->lastDcalcValue - state) / deltaT;
if (PIDparameters->type == ANGULAR)
dTerm = standardRadianFormat(dTerm);
PIDparameters->lastDcalcValue = state;
}
///////////////////////////////////
if (PIDparameters->type == ANGULAR)
return(PIDparameters->P * error +
PIDparameters->I * PIDparameters->iTerm +
PIDparameters->D * dTerm);
else
return(PIDparameters->P * PIDparameters->B * command +
PIDparameters->I * PIDparameters->iTerm +
PIDparameters->D * dTerm -
PIDparameters->P * state);
///////////////////////////////////
}
void processFlightCommands(void)
{
uint8_t channel;
uint8_t channelsToRead = 8;
float hdgDelta, simpleX, simpleY;
if ( rcActive == true )
{
// Read receiver commands
if (eepromConfig.receiverType == PPM)
channelsToRead = eepromConfig.ppmChannels;
for (channel = 0; channel < channelsToRead; channel++)
{
if (eepromConfig.receiverType == SPEKTRUM)
rxCommand[channel] = spektrumRead(eepromConfig.rcMap[channel]);
else if (eepromConfig.receiverType == SBUS)
rxCommand[channel] = sBusRead(eepromConfig.rcMap[channel]);
else
rxCommand[channel] = rxRead(eepromConfig.rcMap[channel]);
}
rxCommand[ROLL] -= eepromConfig.midCommand; // Roll Range -1000:1000
rxCommand[PITCH] -= eepromConfig.midCommand; // Pitch Range -1000:1000
rxCommand[YAW] -= eepromConfig.midCommand; // Yaw Range -1000:1000
for (channel = 3; channel < channelsToRead; channel++)
rxCommand[channel] -= eepromConfig.midCommand - MIDCOMMAND; // Range 2000:4000
}
// Set past command in detent values
for (channel = 0; channel < 3; channel++)
previousCommandInDetent[channel] = commandInDetent[channel];
// Apply deadbands and set detent discretes'
for (channel = 0; channel < 3; channel++)
{
if ((rxCommand[channel] <= DEADBAND) && (rxCommand[channel] >= -DEADBAND))
{
rxCommand[channel] = 0;
commandInDetent[channel] = true;
}
else
{
commandInDetent[channel] = false;
if (rxCommand[channel] > 0)
{
rxCommand[channel] = (rxCommand[channel] - DEADBAND) * DEADBAND_SLOPE;
}
else
{
rxCommand[channel] = (rxCommand[channel] + DEADBAND) * DEADBAND_SLOPE;
}
}
}
///////////////////////////////////
// Check for low throttle
if ( rxCommand[THROTTLE] < eepromConfig.minCheck )
{
// Check for disarm command ( low throttle, left yaw )
if ( (rxCommand[YAW] < (eepromConfig.minCheck - MIDCOMMAND)) && (armed == true) )
{
disarmingTimer++;
if (disarmingTimer > eepromConfig.disarmCount)
{
zeroPIDstates();
armed = false;
disarmingTimer = 0;
}
}
else
{
disarmingTimer = 0;
}
// Check for gyro bias command ( low throttle, left yaw, aft pitch, right roll )
if ( (rxCommand[YAW ] < (eepromConfig.minCheck - MIDCOMMAND)) &&
(rxCommand[ROLL ] > (eepromConfig.maxCheck - MIDCOMMAND)) &&
(rxCommand[PITCH] < (eepromConfig.minCheck - MIDCOMMAND)) )
{
computeMPU6000RTData();
pulseMotors(3);
}
// Check for arm command ( low throttle, right yaw)
if ((rxCommand[YAW] > (eepromConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (execUp == true))
{
armingTimer++;
if (armingTimer > eepromConfig.armCount)
{
zeroPIDstates();
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > eepromConfig.minThrottle))
pidReset = false;
else
pidReset = true;
///////////////////////////////////
// Check yaw in detent and flight mode to determine hdg hold engaged state
if ((commandInDetent[YAW] == true) && (flightMode == ATTITUDE) && (headingHoldEngaged == false))
{
headingHoldEngaged = true;
setPIDstates(HEADING_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
headingReference = heading.mag;
}
if (((commandInDetent[YAW] == false) || (flightMode != ATTITUDE)) && (headingHoldEngaged == true))
{
headingHoldEngaged = false;
}
///////////////////////////////////
// Vertical Mode Command Processing
verticalReferenceCommand = rxCommand[THROTTLE] - eepromConfig.midCommand;
// Set past altitude reference in detent value
previousVertRefCmdInDetent = vertRefCmdInDetent;
// Apply deadband and set detent discrete'
if ((verticalReferenceCommand <= ALT_DEADBAND) && (verticalReferenceCommand >= -ALT_DEADBAND))
{
verticalReferenceCommand = 0;
vertRefCmdInDetent = true;
}
else
{
vertRefCmdInDetent = false;
if (verticalReferenceCommand > 0)
{
verticalReferenceCommand = (verticalReferenceCommand - ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
else
{
verticalReferenceCommand = (verticalReferenceCommand + ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
}
///////////////////////////////////////////////
// Need to have AUX channels update modes
// based on change, to allow for both external
// remote commanding from serial port and with
// transmitter switches
//
// Conditions ---------------------------------
// A switch can actuate multiple modes
// Mode enables are defined by channel ranges
// A mode is only enabled/disabled when a
// channel range changes, this allows remote
// commands via serial to be sent
///////////////////////////////////////////////
// Search through each AUX channel
int ch;
for (ch=AUX1; ch<LASTCHANNEL; ch++)
{
// Only make update if channel value changed
if (fabs(previousRxCommand[ch] - rxCommand[ch]) > CHANGE_RANGE)
{
// Search through each mode slot
int slot;
for (slot=1; slot < MODE_SLOTS; slot++)
{
// If mode slot uses current rx channel, update if mode is on/off
if (eepromConfig.mode[slot].channel == ch)
{
// Only change the mode state if the rx channels are in range
int chValue = constrain(rxCommand[ch]/2, 1000, 2000);
if ((chValue >= eepromConfig.mode[slot].minChannelValue) && (chValue <= eepromConfig.mode[slot].maxChannelValue))
{
switch(eepromConfig.mode[slot].modeType)
{
case MODE_NONE:
flightMode = ATTITUDE;
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
break;
case MODE_ATTITUDE:
autoNavMode = MODE_NONE;
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
else
{
// if OFF and no other mode set, default to rate mode
flightMode = RATE;
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
break;
case MODE_RATE:
autoNavMode = MODE_NONE;
if (eepromConfig.mode[slot].state)
{
flightMode = RATE;
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
else
{
// if OFF and no other mode set, default to attitude mode
flightMode = ATTITUDE;
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
break;
case MODE_SIMPLE:
autoNavMode = MODE_NONE;
if (eepromConfig.mode[slot].state)
{
flightMode = MODE_SIMPLE;
hdgDelta = sensors.attitude500Hz[YAW] - homeData.magHeading;
hdgDelta = standardRadianFormat(hdgDelta);
simpleX = cosf(hdgDelta) * rxCommand[PITCH] + sinf(hdgDelta) * rxCommand[ROLL ];
simpleY = cosf(hdgDelta) * rxCommand[ROLL ] - sinf(hdgDelta) * rxCommand[PITCH];
rxCommand[ROLL ] = simpleY;
rxCommand[PITCH] = simpleX;
}
else
{
// if OFF and no other mode set, default to attitude mode
flightMode = ATTITUDE;
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
break;
case MODE_AUTONAV:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
//verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
autoNavMode = MODE_AUTONAV;
setAutoNavState(AUTONAV_ENABLED);
}
else
{
flightMode = ATTITUDE;
//verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
setAutoNavState(AUTONAV_DISABLED);
}
break;
case MODE_POSITIONHOLD:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
//verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
autoNavMode = MODE_POSITIONHOLD;
}
else
{
flightMode = ATTITUDE;
//verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
}
break;
case MODE_RETURNTOHOME:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
//verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
autoNavMode = MODE_RETURNTOHOME;
}
else
{
flightMode = ATTITUDE;
//verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
}
break;
case MODE_ALTHOLD:
if (eepromConfig.mode[slot].state)
{
if (verticalModeState == ALT_DISENGAGED_THROTTLE_ACTIVE)
{
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
setPIDstates(HDOT_PID, 0.0f);
setPIDstates(H_PID, 0.0f);
altitudeHoldReference = hEstimate;
throttleReference = rxCommand[THROTTLE];
}
else if (verticalModeState == ALT_DISENGAGED_THROTTLE_INACTIVE)
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
}
else
if (verticalModeState == VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY)
{
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
altitudeHoldReference = hEstimate;
}
else
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
break;
case MODE_PANIC:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
autoNavMode = MODE_PANIC;
}
break;
}
}
}
}
}
previousRxCommand[ch] = rxCommand[ch];
}
///////////////////////////////////
// AutoNavigation State Machine
switch (autoNavMode)
{
case MODE_NONE:
autoNavPitchAxisCorrection = 0.0;
autoNavRollAxisCorrection = 0.0;
autoNavYawAxisCorrection = 0.0;
break;
case MODE_AUTONAV:
processAutoNavigation();
break;
case MODE_POSITIONHOLD:
processPositionHold();
break;
case MODE_RETURNTOHOME:
processReturnToHome();
break;
}
///////////////////////////////////
// Vertical Mode State Machine
switch (verticalModeState)
{
case ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT:
if ((vertRefCmdInDetent == true) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
break;
case ALT_DISENGAGED_THROTTLE_ACTIVE:
break;
case ALT_HOLD_AT_REFERENCE_ALTITUDE:
if ((vertRefCmdInDetent == false) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY;
break;
case VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY:
if ((vertRefCmdInDetent == true) && !eepromConfig.verticalVelocityHoldOnly)
{
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
altitudeHoldReference = hEstimate;
}
break;
case ALT_DISENGAGED_THROTTLE_INACTIVE: // This mode verifies throttle is at center when disengaging alt hold
if (((rxCommand[THROTTLE] < throttleCmd + THROTTLE_WINDOW) && (rxCommand[THROTTLE] > throttleCmd - THROTTLE_WINDOW)) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
}
}
void processFlightCommands(void)
{
uint8_t channel, subChannel;
float hdgDelta, simpleX, simpleY;
if (rcActive == true)
{
// Read receiver commands
for (channel = 0; channel < 8; channel++)
{
subChannel = channel;
if (channel >= VERTICAL)
subChannel++;
if (eepromConfig.receiverType == SPEKTRUM)
rxCommand[subChannel] = (float)spektrumRead(eepromConfig.rcMap[channel]);
else
rxCommand[subChannel] = (float)ppmRxRead(eepromConfig.rcMap[channel]);
}
rxCommand[ROLL] -= eepromConfig.midCommand; // Roll Range -1000:1000
rxCommand[PITCH] -= eepromConfig.midCommand; // Pitch Range -1000:1000
rxCommand[YAW] -= eepromConfig.midCommand; // Yaw Range -1000:1000
rxCommand[VERTICAL] = rxCommand[THROTTLE] - eepromConfig.midCommand; // Vertical Range -1000:1000
rxCommand[THROTTLE] -= eepromConfig.midCommand - MIDCOMMAND; // Throttle Range 2000:4000
rxCommand[AUX1] -= eepromConfig.midCommand - MIDCOMMAND; // Aux1 Range 2000:4000
rxCommand[AUX2] -= eepromConfig.midCommand - MIDCOMMAND; // Aux2 Range 2000:4000
rxCommand[AUX3] -= eepromConfig.midCommand - MIDCOMMAND; // Aux3 Range 2000:4000
rxCommand[AUX4] -= eepromConfig.midCommand - MIDCOMMAND; // Aux4 Range 2000:4000
}
// Set past command in detent values
for (channel = 0; channel < 4; channel++)
previousCommandInDetent[channel] = commandInDetent[channel];
// Apply deadbands and set detent discretes'
for (channel = 0; channel < 4; channel++)
{
if ((rxCommand[channel] <= DEADBAND) && (rxCommand[channel] >= -DEADBAND))
{
rxCommand[channel] = 0;
commandInDetent[channel] = true;
}
else
{
commandInDetent[channel] = false;
if (rxCommand[channel] > 0)
{
rxCommand[channel] = (rxCommand[channel] - DEADBAND) * DEADBAND_SLOPE;
}
else
{
rxCommand[channel] = (rxCommand[channel] + DEADBAND) * DEADBAND_SLOPE;
}
}
}
///////////////////////////////////
// Check for low throttle
if ( rxCommand[THROTTLE] < eepromConfig.minCheck )
{
// Check for disarm command ( low throttle, left yaw )
if (((rxCommand[YAW] < (eepromConfig.minCheck - MIDCOMMAND)) && (armed == true)) && (verticalModeState == ALT_DISENGAGED_THROTTLE_ACTIVE))
{
disarmingTimer++;
if (disarmingTimer > eepromConfig.disarmCount)
{
armed = false;
disarmingTimer = 0;
}
}
else
{
disarmingTimer = 0;
}
// Check for gyro bias command ( low throttle, left yaw, aft pitch, right roll )
if ( (rxCommand[YAW ] < (eepromConfig.minCheck - MIDCOMMAND)) &&
(rxCommand[ROLL ] > (eepromConfig.maxCheck - MIDCOMMAND)) &&
(rxCommand[PITCH] < (eepromConfig.minCheck - MIDCOMMAND)) )
{
gyroRTBias[ROLL ] = 0.0f;
gyroRTBias[PITCH] = 0.0f;
gyroRTBias[YAW ] = 0.0f;
gyroRunTimeCalCount = 2520;
pulseMotors(3);
}
// Check for arm command ( low throttle, right yaw)
if ((rxCommand[YAW] > (eepromConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (systemOperational == true) && (gyroRunTimeCalCount == 0))
{
armingTimer++;
if (armingTimer > eepromConfig.armCount)
{
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > eepromConfig.minThrottle))
tasks500Hz_U.resetPIDs = false;
else
tasks500Hz_U.resetPIDs = true;
///////////////////////////////////
// Simple Mode Command Processing
if (rxCommand[AUX3] > MIDCOMMAND)
{
hdgDelta = tasks500Hz_Y.attitudes[YAW] - homeData.magHeading;
hdgDelta = standardRadianFormat(hdgDelta);
simpleX = cosf(hdgDelta) * rxCommand[PITCH] + sinf(hdgDelta) * rxCommand[ROLL ];
simpleY = cosf(hdgDelta) * rxCommand[ROLL ] - sinf(hdgDelta) * rxCommand[PITCH];
rxCommand[ROLL ] = simpleY;
rxCommand[PITCH] = simpleX;
}
///////////////////////////////////
// Check AUX1 for rate, attitude, or GPS mode (3 Position Switch) NOT COMPLETE YET....
if (rxCommand[AUX1] > MIDCOMMAND)
{
flightMode = ATTITUDE;
tasks500Hz_U.rateModes[ROLL ] = OUTER_LOOP_INPUT;
tasks500Hz_U.rateModes[PITCH] = OUTER_LOOP_INPUT;
tasks500Hz_U.attModes[ROLL ] = COMMAND_INPUT;
tasks500Hz_U.attModes[PITCH] = COMMAND_INPUT;
tasks500Hz_U.velModes[XAXIS] = STATE_INPUT;
tasks500Hz_U.velModes[YAXIS] = STATE_INPUT;
tasks500Hz_U.posModes[XAXIS] = STATE_INPUT;
tasks500Hz_U.posModes[YAXIS] = STATE_INPUT;
tasks500Hz_U.attCmds[ROLL ] = rxCommand[ROLL ] * eepromConfig.attitudeScaling;
tasks500Hz_U.attCmds[PITCH] = rxCommand[PITCH] * eepromConfig.attitudeScaling;
}
else if (rxCommand[AUX1] <= MIDCOMMAND)
{
flightMode = RATE;
tasks500Hz_U.rateModes[ROLL ] = COMMAND_INPUT;
tasks500Hz_U.rateModes[PITCH] = COMMAND_INPUT;
tasks500Hz_U.attModes[ROLL ] = STATE_INPUT;
tasks500Hz_U.attModes[PITCH] = STATE_INPUT;
tasks500Hz_U.velModes[XAXIS] = STATE_INPUT;
tasks500Hz_U.velModes[YAXIS] = STATE_INPUT;
tasks500Hz_U.posModes[XAXIS] = STATE_INPUT;
tasks500Hz_U.posModes[YAXIS] = STATE_INPUT;
tasks500Hz_U.rateCmds[ROLL ] = rxCommand[ROLL ] * eepromConfig.rollAndPitchRateScaling;
tasks500Hz_U.rateCmds[PITCH] = rxCommand[PITCH] * eepromConfig.rollAndPitchRateScaling;
}
///////////////////////////////////
// Check yaw in detent and flight mode to determine hdg hold engaged state
if ((commandInDetent[YAW] == true) &&
(flightMode == ATTITUDE) &&
(headingHoldEngaged == false) &&
(abs(tasks500Hz_U.gyro[YAW]) < (5.0f * D2R)))
{
headingHoldEngaged = true;
tasks500Hz_U.rateModes[YAW] = OUTER_LOOP_INPUT;
tasks500Hz_U.attModes[YAW] = COMMAND_INPUT;
tasks500Hz_U.attCmds[YAW] = tasks500Hz_Y.attitudes[YAW];
}
if ((commandInDetent[YAW] == false) || (flightMode != ATTITUDE))
{
headingHoldEngaged = false;
tasks500Hz_U.rateModes[YAW] = COMMAND_INPUT;
tasks500Hz_U.attModes[YAW] = STATE_INPUT;
tasks500Hz_U.rateCmds[YAW] = rxCommand[YAW] * eepromConfig.yawRateScaling;
}
///////////////////////////////////
// Vertical Mode State Machine
switch (verticalModeState)
{
case ALT_DISENGAGED_THROTTLE_ACTIVE:
tasks500Hz_U.velModes[ZAXIS] = STATE_INPUT;
tasks500Hz_U.posModes[ZAXIS] = STATE_INPUT;
tasks500Hz_U.velCmds[ZAXIS] = rxCommand[THROTTLE];
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // AUX2 Rising edge detection
{
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
tasks500Hz_U.posCmds[ZAXIS] = tasks500Hz_U.positions[ZAXIS];
}
break;
///////////////////////////////
case ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT:
tasks500Hz_U.velModes[ZAXIS] = OUTER_LOOP_INPUT;
tasks500Hz_U.posModes[ZAXIS] = COMMAND_INPUT;
if ((commandInDetent[VERTICAL] == true) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case ALT_HOLD_AT_REFERENCE_ALTITUDE:
tasks500Hz_U.velModes[ZAXIS] = OUTER_LOOP_INPUT;
tasks500Hz_U.posModes[ZAXIS] = COMMAND_INPUT;
if ((commandInDetent[VERTICAL] == false) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY;
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY:
tasks500Hz_U.velModes[ZAXIS] = COMMAND_INPUT;
tasks500Hz_U.posModes[ZAXIS] = STATE_INPUT;
tasks500Hz_U.velCmds[ZAXIS] = rxCommand[VERTICAL] * eepromConfig.hDotScaling;
if ((commandInDetent[VERTICAL] == true) && !eepromConfig.verticalVelocityHoldOnly)
{
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
tasks500Hz_U.posCmds[ZAXIS] = tasks500Hz_U.positions[ZAXIS];
}
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
{
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
tasks500Hz_U.posCmds[ZAXIS] = tasks500Hz_U.positions[ZAXIS];
}
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case ALT_DISENGAGED_THROTTLE_INACTIVE:
if (((rxCommand[THROTTLE] < tasks500Hz_Y.axisCmds[VERTICAL] + THROTTLE_WINDOW) && (rxCommand[THROTTLE] > tasks500Hz_Y.axisCmds[VERTICAL] - THROTTLE_WINDOW)) ||
eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // AUX2 Rising edge detection
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
}
previousAUX2State = rxCommand[AUX2];
previousAUX4State = rxCommand[AUX4];
///////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////////
// Compute Axis Commands
///////////////////////////////////////////////////////////////////////////////
void computeAxisCommands(float dt)
{
float error;
float tempAttCompensation;
///////////////////////////////////
// Attitude mode is ON, apply attitude stabilization to input commands BEFORE rate calculations
if (flightMode >= ATTITUDE)
{
if (flightMode == ATTITUDE)
{
// Scale user input in attitude mode
attCmd[ROLL ] = rxCommand[ROLL ] * eepromConfig.attitudeScaling;
attCmd[PITCH] = rxCommand[PITCH] * eepromConfig.attitudeScaling;
}
// Compute error terms for roll and pitch in attitude mode (User input compared to vehicle attitude)
// Apply error terms to PID controllers as feedback
error = standardRadianFormat(attCmd[ROLL] - sensors.attitude500Hz[ROLL]);
attPID[ROLL] = updatePID(error, dt, pidReset, &eepromConfig.PID[ROLL_ATT_PID]);
error = standardRadianFormat(attCmd[PITCH] + sensors.attitude500Hz[PITCH]);
attPID[PITCH] = updatePID(error, dt, pidReset, &eepromConfig.PID[PITCH_ATT_PID]);
}
// if (flightMode == GPS)//TODO
// {
//
// }
// Rate mode is ON
if (flightMode == RATE)
{
// Scale user input in rate mode
rateCmd[ROLL ] = rxCommand[ROLL ] * eepromConfig.rollAndPitchRateScaling;
rateCmd[PITCH] = rxCommand[PITCH] * eepromConfig.rollAndPitchRateScaling;
}
// Attitude mode is ON
else
{
// Take control input from output of attitude PIDs
rateCmd[ROLL ] = attPID[ROLL ];
rateCmd[PITCH] = attPID[PITCH];
}
///////////////////////////////////
// Heading Hold is ON, compute error term for yaw, apply to PID, and use PID calculation for output
if (headingHoldEngaged == true)
{
error = standardRadianFormat(headingReference - heading.mag);
rateCmd[YAW] = updatePID(error, dt, pidReset, &eepromConfig.PID[HEADING_PID]);
}
// Heading Hold is OFF, get yaw direct from user input
else
rateCmd[YAW] = rxCommand[YAW] * eepromConfig.yawRateScaling;
///////////////////////////////////
// Compute error terms for roll, pitch and yaw from rate OR attitude inputs found above
// Apply error terms to rate PID controllers as feedback based on gyro data
// Rate PIDs based off error on gyro only
error = rateCmd[ROLL] - sensors.gyro500Hz[ROLL];
ratePID[ROLL] = updatePID(error, dt, pidReset, &eepromConfig.PID[ROLL_RATE_PID ]);
error = rateCmd[PITCH] + sensors.gyro500Hz[PITCH];
ratePID[PITCH] = updatePID(error, dt, pidReset, &eepromConfig.PID[PITCH_RATE_PID]);
error = rateCmd[YAW] - sensors.gyro500Hz[YAW];
ratePID[YAW] = updatePID(error, dt, pidReset, &eepromConfig.PID[YAW_RATE_PID ]);
///////////////////////////////////
// Manual Mode is ON, no altitude hold
if (verticalModeState == ALT_DISENGAGED_THROTTLE_ACTIVE)
throttleCmd = rxCommand[THROTTLE];
else
{
// Altitude Hold is ON
if ((verticalModeState == ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT) || (verticalModeState == ALT_HOLD_AT_REFERENCE_ALTITUDE) || (verticalModeState == ALT_DISENGAGED_THROTTLE_INACTIVE))
{
// Compute error term for altitude position based off height estimation from sensors
// Use as feedback to vertical position hold PID, which serves as input to vertical velocity PID
// altitudeHoldReference depends on particular type of altitude hold enabled (fixed, at engagement, or throttle inactive)
error = altitudeHoldReference - hEstimate;
verticalVelocityCmd = updatePID(error, dt, pidReset, &eepromConfig.PID[H_PID]);
}
// Vertical Velocity Hold is ON
else
{
// Get vertical velocity directly from velocity reference command (user input)
verticalVelocityCmd = verticalReferenceCommand * eepromConfig.hDotScaling;
}
// Compute error term for vertical velocity hold PID based of estimated vertical velocity (hDot)
// Use as feedback to vertical velocity hold PID
error = verticalVelocityCmd - hDotEstimate;
throttleCmd = throttleReference + updatePID(error, dt, pidReset, &eepromConfig.PID[HDOT_PID]);
// Get Roll Angle, Constrain to +/-20 degrees (default)
tempAttCompensation = constrain(sensors.attitude500Hz[ROLL ], eepromConfig.rollAttAltCompensationLimit, -eepromConfig.rollAttAltCompensationLimit);
// Compute Cosine of Roll Angle and Multiply by Att-Alt Gain
tempAttCompensation = eepromConfig.rollAttAltCompensationGain / cosf(tempAttCompensation);
// Apply Roll Att Compensation to Throttle Command
throttleCmd *= tempAttCompensation;
// Get Pitch Angle, Constrain to +/-20 degrees (default)
tempAttCompensation = constrain(sensors.attitude500Hz[PITCH], eepromConfig.pitchAttAltCompensationLimit, -eepromConfig.pitchAttAltCompensationLimit);
// Compute Cosine of Pitch Angle and Multiply by Att-Alt Gain
tempAttCompensation = eepromConfig.pitchAttAltCompensationGain / cosf(tempAttCompensation);
// Apply Pitch Att Compensation to Throttle Command
throttleCmd *= tempAttCompensation;
}
///////////////////////////////////
}
void processFlightCommands(void)
{
uint8_t channel;
float hdgDelta, simpleX, simpleY;
if (rcActive == true)
{
// Read receiver commands
for (channel = 0; channel < 8; channel++)
{
if (systemConfig.receiverType == SPEKTRUM)
rxCommand[channel] = (float)spektrumRead(systemConfig.rcMap[channel]);
else
rxCommand[channel] = (float)ppmRxRead(systemConfig.rcMap[channel]);
}
rxCommand[ROLL] -= systemConfig.midCommand; // Roll Range -1000:1000
rxCommand[PITCH] -= systemConfig.midCommand; // Pitch Range -1000:1000
rxCommand[YAW] -= systemConfig.midCommand; // Yaw Range -1000:1000
rxCommand[THROTTLE] -= systemConfig.midCommand - MIDCOMMAND; // Throttle Range 2000:4000
rxCommand[AUX1] -= systemConfig.midCommand - MIDCOMMAND; // Aux1 Range 2000:4000
rxCommand[AUX2] -= systemConfig.midCommand - MIDCOMMAND; // Aux2 Range 2000:4000
rxCommand[AUX3] -= systemConfig.midCommand - MIDCOMMAND; // Aux3 Range 2000:4000
rxCommand[AUX4] -= systemConfig.midCommand - MIDCOMMAND; // Aux4 Range 2000:4000
}
// Set past command in detent values
for (channel = 0; channel < 3; channel++)
previousCommandInDetent[channel] = commandInDetent[channel];
// Apply deadbands and set detent discretes'
for (channel = 0; channel < 3; channel++)
{
if ((rxCommand[channel] <= DEADBAND) && (rxCommand[channel] >= -DEADBAND))
{
rxCommand[channel] = 0;
commandInDetent[channel] = true;
}
else
{
commandInDetent[channel] = false;
if (rxCommand[channel] > 0)
{
rxCommand[channel] = (rxCommand[channel] - DEADBAND) * DEADBAND_SLOPE;
}
else
{
rxCommand[channel] = (rxCommand[channel] + DEADBAND) * DEADBAND_SLOPE;
}
}
}
///////////////////////////////////
// Check for low throttle
if ( rxCommand[THROTTLE] < systemConfig.minCheck )
{
// Check for disarm command ( low throttle, left yaw )
if (((rxCommand[YAW] < (systemConfig.minCheck - MIDCOMMAND)) && (armed == true)) && (verticalModeState == ALT_DISENGAGED_THROTTLE_ACTIVE))
{
disarmingTimer++;
if (disarmingTimer > systemConfig.disarmCount)
{
zeroPIDintegralError();
zeroPIDstates();
armed = false;
disarmingTimer = 0;
}
}
else
{
disarmingTimer = 0;
}
// Check for gyro bias command ( low throttle, left yaw, aft pitch, right roll )
if ( (rxCommand[YAW ] < (systemConfig.minCheck - MIDCOMMAND)) &&
(rxCommand[ROLL ] > (systemConfig.maxCheck - MIDCOMMAND)) &&
(rxCommand[PITCH] < (systemConfig.minCheck - MIDCOMMAND)) )
{
computeMPU6000RTData();
pulseMotors(3);
}
// Check for arm command ( low throttle, right yaw)
if ((rxCommand[YAW] > (systemConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (execUp == true))
{
armingTimer++;
if (armingTimer > systemConfig.armCount)
{
zeroPIDintegralError();
zeroPIDstates();
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > systemConfig.minThrottle))
holdIntegrators = false;
else
holdIntegrators = true;
///////////////////////////////////
// Check AUX1 for rate, attitude, or GPS mode (3 Position Switch) NOT COMPLETE YET....
if ((rxCommand[AUX1] > MIDCOMMAND) && (flightMode == RATE))
{
flightMode = ATTITUDE;
setPIDintegralError(ROLL_ATT_PID, 0.0f);
setPIDintegralError(PITCH_ATT_PID, 0.0f);
setPIDintegralError(HEADING_PID, 0.0f);
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
else if ((rxCommand[AUX1] <= MIDCOMMAND) && (flightMode == ATTITUDE))
{
flightMode = RATE;
setPIDintegralError(ROLL_RATE_PID, 0.0f);
setPIDintegralError(PITCH_RATE_PID, 0.0f);
setPIDintegralError(YAW_RATE_PID, 0.0f);
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
///////////////////////////////////
// Check yaw in detent and flight mode to determine hdg hold engaged state
if ((commandInDetent[YAW] == true) && (flightMode == ATTITUDE) && (headingHoldEngaged == false))
{
headingHoldEngaged = true;
setPIDintegralError(HEADING_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
headingReference = heading.mag;
}
if (((commandInDetent[YAW] == false) || (flightMode != ATTITUDE)) && (headingHoldEngaged == true))
{
headingHoldEngaged = false;
}
///////////////////////////////////
// Simple Mode Command Processing
if (rxCommand[AUX3] > MIDCOMMAND)
{
hdgDelta = sensors.attitude500Hz[YAW] - homeData.magHeading;
hdgDelta = standardRadianFormat(hdgDelta);
simpleX = cosf(hdgDelta) * rxCommand[PITCH] + sinf(hdgDelta) * rxCommand[ROLL ];
simpleY = cosf(hdgDelta) * rxCommand[ROLL ] - sinf(hdgDelta) * rxCommand[PITCH];
rxCommand[ROLL ] = simpleY;
rxCommand[PITCH] = simpleX;
}
///////////////////////////////////
// Vertical Mode Command Processing
verticalReferenceCommand = rxCommand[THROTTLE] - MIDCOMMAND;
// Set past altitude reference in detent value
previousVertRefCmdInDetent = vertRefCmdInDetent;
// Apply deadband and set detent discrete'
if ((verticalReferenceCommand <= ALT_DEADBAND) && (verticalReferenceCommand >= -ALT_DEADBAND))
{
verticalReferenceCommand = 0;
vertRefCmdInDetent = true;
}
else
{
vertRefCmdInDetent = false;
if (verticalReferenceCommand > 0)
{
verticalReferenceCommand = (verticalReferenceCommand - ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
else
{
verticalReferenceCommand = (verticalReferenceCommand + ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
}
///////////////////////////////////
// Vertical Mode State Machine
switch (verticalModeState)
{
case ALT_DISENGAGED_THROTTLE_ACTIVE:
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // AUX2 Rising edge detection
{
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
setPIDintegralError(HDOT_PID, 0.0f);
setPIDintegralError(H_PID, 0.0f);
setPIDstates(HDOT_PID, 0.0f);
setPIDstates(H_PID, 0.0f);
altitudeHoldReference = hEstimate;
throttleReference = rxCommand[THROTTLE];
}
break;
///////////////////////////////
case ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT:
if ((vertRefCmdInDetent == true) || sensorConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case ALT_HOLD_AT_REFERENCE_ALTITUDE:
if ((vertRefCmdInDetent == false) || sensorConfig.verticalVelocityHoldOnly)
verticalModeState = VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY;
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY:
if ((vertRefCmdInDetent == true) && !sensorConfig.verticalVelocityHoldOnly)
{
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
altitudeHoldReference = hEstimate;
}
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
{
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
altitudeHoldReference = hEstimate;
}
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case ALT_DISENGAGED_THROTTLE_INACTIVE:
if (((rxCommand[THROTTLE] < throttleCmd + THROTTLE_WINDOW) && (rxCommand[THROTTLE] > throttleCmd - THROTTLE_WINDOW)) ||
sensorConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // AUX2 Rising edge detection
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
}
previousAUX2State = rxCommand[AUX2];
previousAUX4State = rxCommand[AUX4];
///////////////////////////////////
}
