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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | |
| 2 | /* |
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| 3 | * Here is a dynamic calibration experiment: Adjust integrals and gyro offsets if the pilot appears to be always |
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| 4 | * pushing of pulling on the pitch or roll stick. |
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| 5 | */ |
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| 6 | /* |
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| 7 | if(ADCycleCount >= dynamicParams.UserParam2 * 10) { |
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| 8 | // This algo works OK on the desk but it is a little sluggish and it oscillates. |
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| 9 | // It does not very effectively cancel drift because of dynamics. |
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| 10 | |||
| 11 | minStickForAutoCal = dynamicParams.UserParam3 * 10; |
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| 12 | maxStickForAutoCal = dynamicParams.UserParam4 * 10; |
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| 13 | |||
| 14 | // If not already corrected to the limit, and dynamic calibration is enabled: |
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| 15 | if (abs(dynamicOffsetPitch - savedDynamicOffsetPitch) < dynamicParams.UserParam1 && !dynamicParams.UserParam6) { |
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| 16 | // The pilot pushes on the stick, the integral is > 0, and the gyro val is > 0. Looks like a value-too-high case, so increase the offset. |
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| 17 | if (filteredHiResPitchGyro > dynamicOffsetPitch && pitchAngle > 0 && maxStickPitch >= minStickForAutoCal && maxStickPitch <= maxStickForAutoCal) { |
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| 18 | dynamicOffsetPitch += (int8_t)(dynamicParams.UserParam7 - 128); // (adding something seems right...) |
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| 19 | pitchAngle = (pitchAngle * (int32_t)dynamicParams.UserParam5) / 100L; |
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| 20 | } else if (filteredHiResPitchGyro < dynamicOffsetPitch && pitchAngle < 0 && maxStickPitch <= -minStickForAutoCal && maxStickPitch >= -maxStickForAutoCal) { |
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| 21 | dynamicOffsetPitch -= (int8_t)(dynamicParams.UserParam7 - 128); // (subtracting something seems right...) |
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| 22 | pitchAngle = (pitchAngle * (int32_t)dynamicParams.UserParam5) / 100L; |
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| 23 | } |
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| 24 | } |
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| 25 | |||
| 26 | // If not already corrected to the limit, and dynamic calibration is enabled: |
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| 27 | if (abs(dynamicOffsetRoll - savedDynamicOffsetRoll) <= dynamicParams.UserParam1 && !dynamicParams.UserParam6) { |
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| 28 | if (filteredHiResRollGyro > dynamicOffsetRoll && rollAngle > 0 && maxStickRoll >= minStickForAutoCal && maxStickRoll <= maxStickForAutoCal) { |
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| 29 | dynamicOffsetRoll += (int8_t)(dynamicParams.UserParam8 - 128); |
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| 30 | rollAngle = (rollAngle * (int32_t)dynamicParams.UserParam5) / 100L; |
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| 31 | } else if (filteredHiResRollGyro < dynamicOffsetRoll && rollAngle < 0 && maxStickRoll <= -minStickForAutoCal && maxStickRoll >= -maxStickForAutoCal) { |
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| 32 | dynamicOffsetRoll -= (int8_t)(dynamicParams.UserParam8 - 128); |
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| 33 | rollAngle = (rollAngle * (int32_t)dynamicParams.UserParam5) / 100L; |
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| 34 | } |
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| 35 | } |
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| 36 | ADCycleCount = 0; |
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| 37 | } |
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| 38 | */ |