| 16,7 → 16,7 |
|---|
| * If you have no acc. sensor or do not want to use it, remove this define. This will cause the |
| * acc. sensor to be ignored at attitude calibration. |
| */ |
| #define ATTITUDE_USE_ACC_SENSORS yes |
| //#define ATTITUDE_USE_ACC_SENSORS yes |
| |
| /* |
| * The frequency at which numerical integration takes place. 488 in original code. |
| 24,16 → 24,6 |
|---|
| #define INTEGRATION_FREQUENCY 488 |
| |
| /* |
| * Gyro readings are divided by this before being used in attitude control. This will scale them |
| * to match the scale of the stick control etc. variables. This is just a rough non-precision |
| * scaling - the below definitions make precise conversion factors. |
| * Will be about 4 for InvenSense, 8 for FC1.3 and 8 for ADXRS610. |
| * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees. |
| */ |
| #define HIRES_GYRO_INTEGRATION_FACTOR 1 |
| // (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
| |
| /* |
| * Constant for deriving an attitude angle from acceleration measurement. |
| * |
| * The value is derived from the datasheet of the ACC sensor where 5g are scaled to VRef. |
| 62,8 → 52,7 |
|---|
| * HIRES_GYRO_INTEGRATION_FACTOR (why???) before integration. |
| * The value of this expression should be about 1250 (by setting HIRES_GYRO_INTEGRATION_FACTOR to something suitable). |
| */ |
| #define GYRO_DEG_FACTOR_PITCHROLL (GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
| #define GYRO_DEG_FACTOR_YAW (GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
| #define GYRO_DEG_FACTOR (GYRO_RATE_FACTOR * INTEGRATION_FREQUENCY * GYRO_CORRECTION) |
| |
| /* |
| * This is ([gyro integral value] / degree) / (degree / acc. sensor value) = gyro integral value / acc.sensor value |
| 71,25 → 60,37 |
|---|
| * value for the same (small) angle. |
| * The value is about 200. |
| */ |
| #define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| //#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| |
| #define PITCHROLLOVER180 ((int32_t)GYRO_DEG_FACTOR_PITCHROLL * 180) |
| #define PITCHROLLOVER360 ((int32_t)GYRO_DEG_FACTOR_PITCHROLL * 360) |
| #define YAWOVER360 ((int32_t)GYRO_DEG_FACTOR_YAW * 360) |
| #define OVER180 ((int32_t)GYRO_DEG_FACTOR * 180) |
| #define OVER360 ((int32_t)GYRO_DEG_FACTOR * 360) |
| |
| /* |
| * Rotation rates |
| */ |
| extern int16_t rate_PID[2], rate_ATT[2], yawRate; |
| extern int16_t rate_PID[3], rate_ATT[3]; |
| extern int16_t differential[3]; |
| |
| /* |
| * Attitudes calculated by numerical integration of gyro rates |
| */ |
| extern int32_t angle[3]; |
| extern int32_t error[3]; |
| extern int32_t attitude[3]; |
| |
| // extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
| |
| /* |
| * Compass navigation |
| */ |
| // extern int16_t compassHeading; |
| // extern int16_t compassCourse; |
| // extern int16_t compassOffCourse; |
| // extern uint8_t compassCalState; |
| // extern int32_t yawGyroHeading; |
| // extern int16_t yawGyroHeadingInDeg; |
| // extern uint8_t updateCompassCourse; |
| // extern uint16_t ignoreCompassTimer; |
| |
| /* |
| * Dynamic gyro offsets. These are signed values that are subtracted from the gyro measurements, |
| * to help canceling out drift and vibration noise effects. The dynamic offsets themselves |
| * can be updated in flight by different ways, for example: |
| 99,12 → 100,12 |
|---|
| * - Detect which way the pilot pulls the stick to keep the copter steady, and correct by that |
| * - Invent your own... |
| */ |
| extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
| // extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
| |
| /* |
| * For NaviCtrl use. |
| */ |
| extern int16_t averageAcc[2], averageAccCount; |
| // extern int16_t averageAcc[2], averageAccCount; |
| |
| /* |
| * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |