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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | #include <inttypes.h> |
| 2 | #include "attitude.h" |
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| 3 | #include "uart0.h" |
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| 4 | #include "configuration.h" |
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| 5 | #include "dongfangMath.h" |
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| 6 | |||
| 7 | // For scope debugging only! |
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| 1872 | - | 8 | #include "output.h" |
| 1775 | - | 9 | |
| 10 | // = cos^2(45 degs). |
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| 1877 | - | 11 | const int32_t FACTORSQUARED = (int32_t) (1<<(MATH_UNIT_FACTOR_LOG*2)); |
| 12 | const int32_t MINPROJECTION = (int32_t) (1<<(MATH_UNIT_FACTOR_LOG*2-1)); |
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| 1775 | - | 13 | |
| 14 | // Takes 380 - 400 usec. Way too slow. |
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| 15 | // With static MINPROJECTION: 220 usec. |
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| 16 | uint16_t AC_getThrottle(uint16_t throttle) { |
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| 1877 | - | 17 | int32_t projection; |
| 18 | uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
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| 19 | int16_t deltaThrottle; |
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| 20 | |||
| 21 | projection = (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
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| 22 | |||
| 23 | /* |
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| 24 | if (projection < MINPROJECTION && projection >= 0) { |
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| 25 | deltaThrottle = 0; |
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| 26 | } else if (projection > -MINPROJECTION && projection < 0) { |
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| 27 | // projection = -MINPROJECITON; |
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| 28 | deltaThrottle = 0; |
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| 29 | } else { |
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| 30 | */ |
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| 31 | |||
| 32 | deltaThrottle = (((int32_t) effect * throttle) << (MATH_UNIT_FACTOR*2)) / (projection * 100) - (1 << (MATH_UNIT_FACTOR*2)); |
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| 33 | // DebugOut.Analog[13] = deltaThrottle; |
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| 34 | |||
| 35 | return throttle + deltaThrottle; |
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| 36 | } |
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| 1775 | - | 37 |