| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 109,7 → 109,7 |
| // Yaw angle and compass stuff. |
| // This is updated/written from MM3. Negative angle indicates invalid data. |
| int16_t compassHeading = -1; |
| int16_t magneticHeading = -1; |
| // This is NOT updated from MM3. Negative angle indicates invalid data. |
| int16_t compassCourse = -1; |
| 187,10 → 187,10 |
| yawAngleDiff = 0; |
| // update compass course to current heading |
| compassCourse = compassHeading; |
| compassCourse = magneticHeading; |
| // Inititialize YawGyroIntegral value with current compass heading |
| yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
| yawGyroHeading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
| // Servo_On(); //enable servo output |
| } |
| 435,13 → 435,13 |
| w = v; |
| correction = w / 8 + 1; |
| // calculate the deviation of the yaw gyro heading and the compass heading |
| if (compassHeading < 0) |
| if (magneticHeading < 0) |
| error = 0; // disable yaw drift compensation if compass heading is undefined |
| else if (abs(yawRate) > 128) { // spinning fast |
| error = 0; |
| } else { |
| // compassHeading - yawGyroHeading, on a -180..179 deg interval. |
| error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) |
| error = ((540 + magneticHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) |
| % 360) - 180; |
| } |
| if (!ignoreCompassTimer && w < 25) { |
| 449,8 → 449,8 |
| // Basically this gets set if we are in "fix" mode, and when starting. |
| if (updateCompassCourse) { |
| beep(200); |
| yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
| compassCourse = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
| yawGyroHeading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
| compassCourse = magneticHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
| updateCompassCourse = 0; |
| } |
| } |
| /branches/dongfang_FC_rewrite/attitude.h |
|---|
| 95,7 → 95,7 |
| /* |
| * Compass navigation |
| */ |
| extern int16_t compassHeading; |
| extern int16_t magneticHeading; |
| extern int16_t compassCourse; |
| // extern int16_t compassOffCourse; |
| extern uint8_t compassCalState; |
| /branches/dongfang_FC_rewrite/menu.c |
|---|
| 155,7 → 155,7 |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Nick: %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,2,"Roll: %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,3,"Heading: %5i", compassHeading); |
| LCD_printfxy(0,3,"Heading(M):%5i", magneticHeading); |
| break; |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| 208,8 → 208,8 |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| LCD_printfxy(0,1,"Course: %5i", compassCourse); |
| LCD_printfxy(0,2,"Heading: %5i", compassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i", ((540 + compassHeading - compassCourse) % 360) - 180); |
| LCD_printfxy(0,2,"Heading: %5i", magneticHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i", ((540 + magneticHeading - compassCourse) % 360) - 180); |
| break; |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion |
| /branches/dongfang_FC_rewrite/mk3mag.c |
|---|
| 80,7 → 80,7 |
| void MK3MAG_periodicTask(void) {// called every 102.4 us by timer 0 ISR |
| static uint16_t PWMCount = 0; |
| static uint16_t beepDelay = 0; |
| static uint16_t debugCounter = 0; |
| // static uint16_t debugCounter = 0; |
| // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| // in other words 100us/° with a +1ms offset. |
| // The signal goes low for 65ms between pulses, |
| 87,10 → 87,10 |
| // so the cycle time is 65mS + the pulse width. |
| // pwm is high |
| if (debugCounter++ == 5000) { |
| // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| debugCounter = 0; |
| } |
| // if (debugCounter++ == 5000) { |
| // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| // debugCounter = 0; |
| // } |
| if (PINC & (1 << PINC4)) { |
| // If PWM signal is high increment PWM high counter |
| 101,7 → 101,7 |
| if (PWMCount > 400) { |
| if (PWMTimeout) |
| PWMTimeout--; // decrement timeout |
| compassHeading = -1; // unknown heading |
| magneticHeading = -1; // unknown heading |
| PWMCount = 0; // reset PWM Counter |
| } |
| } else { // pwm is low |
| 108,9 → 108,9 |
| // ignore pwm values values of 0 and higher than 37 ms; |
| if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| if (PWMCount < 10) |
| compassHeading = 0; |
| magneticHeading = 0; |
| else { |
| compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| magneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| } |
| /* |
| 126,10 → 126,11 |
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| if (!PWMTimeout) { |
| if (checkDelay(beepDelay)) { |
| if (!beepTime) |
| beepTime = 100; // make noise with 10Hz to signal the compass problem |
| beep(100); // make noise with 10Hz to signal the compass problem |
| beepDelay = setDelay(100); |
| } |
| } |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 448,7 → 448,8 |
| switch (rxd_buffer[2]) { |
| #ifdef USE_DIRECT_GPS |
| case 'K':// compass value |
| compassHeading = ((Heading_t *)pRxData)->heading; |
| // What is the point of this - the compass will overwrite this soon? |
| magneticHeading = ((Heading_t *)pRxData)->heading; |
| // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| break; |
| #endif |