void processPointingCommands(void)
{
uint8_t channel;
if (rcActive == true)
{
// Read receiver commands
for (channel = 0; channel < 3; channel++)
rxCommand[channel] = (float)rxRead(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
}
// 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;
}
}
}
///////////////////////////////////
rxCommand[ROLL] *= 0.001f; // Roll Range -1:1
rxCommand[PITCH] *= -0.001f; // Pitch Range -1:1
rxCommand[YAW] *= 0.001f; // Yaw Range -1:1
///////////////////////////////////
if (eepromConfig.rollRateCmdInput == true)
{
if ((rxCommand[ROLL] >= 0.0f) && (pointingCmd[ROLL] <= eepromConfig.gimbalRollRightLimit))
pointingCmd[ROLL] += rxCommand[ROLL] * eepromConfig.gimbalRollRate * 0.02f; // Constant DT of 0.02 good enough here
if ((rxCommand[ROLL] < 0.0f) && (pointingCmd[ROLL] >= -eepromConfig.gimbalRollLeftLimit))
pointingCmd[ROLL] += rxCommand[ROLL] * eepromConfig.gimbalRollRate * 0.02f; // Constant DT of 0.02 good enough here
pointingCmd[ROLL] = firstOrderFilter(pointingCmd[ROLL], &firstOrderFilters[ROLL_RATE_POINTING_50HZ_LOWPASS]);
}
else
{
if (rxCommand[ROLL] >= 0.0f)
pointingCmd[ROLL] = rxCommand[ROLL] * eepromConfig.gimbalRollRightLimit;
else
pointingCmd[ROLL] = rxCommand[ROLL] * eepromConfig.gimbalRollLeftLimit;
pointingCmd[ROLL] = firstOrderFilter(pointingCmd[ROLL], &firstOrderFilters[ROLL_ATT_POINTING_50HZ_LOWPASS]);
}
pointingCmd[ROLL] = constrain(pointingCmd[ROLL], -eepromConfig.gimbalYawLeftLimit, eepromConfig.gimbalRollRightLimit);
///////////////////////////////////
if (eepromConfig.pitchRateCmdInput == true)
{
if ((rxCommand[PITCH] >= 0.0f) && (pointingCmd[PITCH] <= eepromConfig.gimbalPitchUpLimit))
pointingCmd[PITCH] += rxCommand[PITCH] * eepromConfig.gimbalPitchRate * 0.02f; // Constant DT of 0.02 good enough here
if ((rxCommand[PITCH] < 0.0f) && (pointingCmd[PITCH] >= -eepromConfig.gimbalPitchDownLimit))
pointingCmd[PITCH] += rxCommand[PITCH] * eepromConfig.gimbalPitchRate * 0.02f; // Constant DT of 0.02 good enough here
pointingCmd[PITCH] = firstOrderFilter(pointingCmd[PITCH], &firstOrderFilters[PITCH_RATE_POINTING_50HZ_LOWPASS]);
}
else
{
if (rxCommand[PITCH] >= 0.0f)
pointingCmd[PITCH] = rxCommand[PITCH] * eepromConfig.gimbalPitchUpLimit;
if (rxCommand[PITCH] < 0.0f)
pointingCmd[PITCH] = rxCommand[PITCH] * eepromConfig.gimbalPitchDownLimit;
pointingCmd[PITCH] = firstOrderFilter(pointingCmd[PITCH], &firstOrderFilters[PITCH_ATT_POINTING_50HZ_LOWPASS]);
}
pointingCmd[PITCH] = constrain(pointingCmd[PITCH], -eepromConfig.gimbalPitchDownLimit, eepromConfig.gimbalPitchUpLimit);
///////////////////////////////////
if (eepromConfig.yawRateCmdInput == true)
{
if ((rxCommand[YAW] >= 0.0f) && (pointingCmd[YAW] <= eepromConfig.gimbalYawRightLimit))
pointingCmd[YAW] += rxCommand[YAW] * eepromConfig.gimbalYawRate * 0.02f; // Constant DT of 0.02 good enough here
if ((rxCommand[YAW] < 0.0f) && (pointingCmd[YAW] >= -eepromConfig.gimbalYawLeftLimit))
pointingCmd[YAW] += rxCommand[YAW] * eepromConfig.gimbalYawRate * 0.02f; // Constant DT of 0.02 good enough here
pointingCmd[YAW] = firstOrderFilter(pointingCmd[YAW], &firstOrderFilters[YAW_RATE_POINTING_50HZ_LOWPASS]);
}
else
{
if (rxCommand[YAW] >= 0.0f)
pointingCmd[YAW] = rxCommand[YAW] * eepromConfig.gimbalYawRightLimit;
if (rxCommand[YAW] < 0.0f)
pointingCmd[YAW] = rxCommand[YAW] * eepromConfig.gimbalYawLeftLimit;
pointingCmd[YAW] = firstOrderFilter(pointingCmd[YAW], &firstOrderFilters[YAW_ATT_POINTING_50HZ_LOWPASS]);
}
pointingCmd[YAW] = constrain(pointingCmd[YAW], -eepromConfig.gimbalYawLeftLimit, eepromConfig.gimbalYawRightLimit);
///////////////////////////////////
}
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;
if ( rcActive == true )
{
// Read receiver commands
for (channel = 0; channel < 8; channel++)
rxCommand[channel] = (float)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
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 < 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 ), will disarm immediately
if ( (rxCommand[YAW] < (eepromConfig.minCheck - MIDCOMMAND)) && (armed == true) )
{
armed = false;
zeroPIDintegralError();
zeroPIDstates();
}
// 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), must be present for 1 sec before arming
if ((rxCommand[YAW] > (eepromConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (execUp == true))
{
armingTimer++;
if ( armingTimer > 50 )
{
zeroPIDintegralError();
zeroPIDstates();
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > eepromConfig.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);
}
///////////////////////////////////
if ((commandInDetent[YAW] == true) && (flightMode == ATTITUDE))
headingHoldEngaged = true;
else
headingHoldEngaged = false;
///////////////////////////////////
// Check AUX2 for altitude hold mode (2 Position Switch)
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // Rising edge detection
{
altitudeHoldState = ENGAGED;
altitudeHoldThrottleValue = rxCommand[THROTTLE];
}
else if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // Falling edge detection
{
altitudeHoldState = DISENGAGED;
}
previousAUX2State = rxCommand[AUX2];
///////////////////////////////////
}
