| 65,41 → 65,34 |
|---|
| #include "eeprom.h" |
| |
| /* |
| * Arrays could have been used for the 2 * 3 axes, but despite some repetition, |
| * the code is easier to read without. |
| * |
| * For each A/D conversion cycle, each channel (eg. the yaw gyro, or the Z axis |
| * accelerometer) is sampled a number of times (see array channelsForStates), and |
| * the results for each channel are summed. Here are those for the gyros and the |
| * acc. meters. They are not zero-offset. |
| * For each A/D conversion cycle, each analog channel is sampled a number of times |
| * (see array channelsForStates), and the results for each channel are summed. |
| * Here are those for the gyros and the acc. meters. They are not zero-offset. |
| * They are exported in the analog.h file - but please do not use them! The only |
| * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
| * the offsets with the DAC. |
| */ |
| volatile int16_t rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum; |
| volatile int16_t pitchAxisAcc = 0, rollAxisAcc = 0, ZAxisAcc = 0; |
| volatile int16_t filteredPitchAxisAcc = 0, filteredRollAxisAcc = 0; |
| volatile int16_t rawGyroSum[2], rawYawGyroSum; |
| volatile int16_t acc[2] = {0,0}, ZAcc = 0; |
| volatile int16_t filteredAcc[2] = {0,0}; |
| |
| // that float one - "Top" - is missing. |
| |
| /* |
| * These 4 exported variables are zero-offset. The "filtered" ones are |
| * (if configured to with the GYROS_SECONDORDERFILTER define) low pass |
| * filtered versions of the other 2. |
| * They are derived from the "raw" values above, by zero-offsetting. |
| * These 4 exported variables are zero-offset. The "PID" ones are used |
| * in the attitude control as rotation rates. The "ATT" ones are for |
| * integration to angles. |
| */ |
| volatile int16_t hiResPitchGyro = 0, hiResRollGyro = 0; |
| volatile int16_t filteredHiResPitchGyro = 0, filteredHiResRollGyro = 0; |
| volatile int16_t pitchGyroD = 0, rollGyroD = 0; |
| volatile int16_t gyro_PID[2]; |
| volatile int16_t gyro_ATT[2]; |
| volatile int16_t gyroD[2]; |
| volatile int16_t yawGyro = 0; |
| |
| /* |
| * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| * standing still. They are used for adjusting the gyro and acc. meter values |
| * to be zero when the copter stands still. |
| * to be centered on zero. |
| */ |
| volatile int16_t pitchOffset, rollOffset, yawOffset; |
| volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset; |
| volatile int16_t gyroOffset[2], yawGyroOffset; |
| volatile int16_t accOffset[2], ZAccOffset; |
| |
| /* |
| * This allows some experimentation with the gyro filters. |
| 110,12 → 103,14 |
|---|
| volatile uint8_t GYROS_DFILTER; |
| volatile uint8_t ACC_FILTER; |
| |
| // Air pressure (no support right now). |
| // volatile int32_t AirPressure = 32000; |
| // volatile uint8_t average_pressure = 0; |
| // volatile int16_t StartAirPressure; |
| // volatile uint16_t ReadingAirPressure = 1023; |
| // volatile int16_t HeightD = 0; |
| /* |
| * Air pressure measurement. |
| */ |
| #define MIN_RAWPRESSURE 200 |
| #define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE) |
| volatile uint8_t rangewidth = 53; |
| volatile uint16_t rawAirPressure; |
| volatile uint16_t filteredAirPressure; |
| |
| /* |
| * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
| 124,8 → 119,6 |
|---|
| */ |
| volatile int16_t UBat = 100; |
| |
| volatile int16_t filteredAirPressure; |
| |
| /* |
| * Control and status. |
| */ |
| 135,18 → 128,18 |
|---|
| /* |
| * Experiment: Measuring vibration-induced sensor noise. |
| */ |
| volatile uint16_t pitchGyroNoisePeak, rollGyroNoisePeak; |
| volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak; |
| volatile uint16_t gyroNoisePeak[2]; |
| volatile uint16_t accNoisePeak[2]; |
| |
| // ADC channels |
| #define AD_GYRO_YAW 0 |
| #define AD_GYRO_ROLL 1 |
| #define AD_GYRO_YAW 0 |
| #define AD_GYRO_ROLL 1 |
| #define AD_GYRO_PITCH 2 |
| #define AD_AIRPRESSURE 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| #define AD_ACC_ROLL 6 |
| #define AD_ACC_PITCH 7 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| #define AD_ACC_ROLL 6 |
| #define AD_ACC_PITCH 7 |
| |
| /* |
| * Table of AD converter inputs for each state. |
| 228,13 → 221,8 |
|---|
| } |
| } |
| |
| |
| #define ADCENTER (1023/2) |
| #define HALFRANGE 400 |
| uint8_t stepsize = 53; |
| |
| uint16_t getAbsPressure(int advalue) { |
| return (uint16_t)OCR0A * (uint16_t)stepsize + advalue; |
| return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
| } |
| |
| uint16_t filterAirPressure(uint16_t rawpressure) { |
| 241,22 → 229,21 |
|---|
| return rawpressure; |
| } |
| |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // Runs at 312.5 kHz or 3.2 µs |
| // When all states are processed the interrupt is disabled |
| // and the update of further AD conversions is stopped. |
| |
| /***************************************************** |
| * Interrupt Service Routine for ADC |
| * Runs at 312.5 kHz or 3.2 µs. When all states are |
| * processed the interrupt is disabled and further |
| * AD conversions are stopped. |
| *****************************************************/ |
| ISR(ADC_vect) { |
| static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
| static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
| |
| uint8_t i; |
| int16_t step = OCR0A; |
| static uint8_t pressure_wait = 10; |
| uint8_t i, axis; |
| int16_t range; |
| |
| // for various filters... |
| static int16_t pitchGyroFilter, rollGyroFilter, tempOffsetGyro; |
| int16_t tempOffsetGyro, tempGyro; |
| |
| sensorInputs[ad_channel] += ADC; |
| |
| 267,9 → 254,9 |
|---|
| switch(state++) { |
| case 7: // Z acc |
| #ifdef ACC_REVERSE_ZAXIS |
| ZAxisAcc = -ZAxisAccOffset - sensorInputs[AD_ACC_Z]; |
| ZAcc = -ZAccOffset - sensorInputs[AD_ACC_Z]; |
| #else |
| ZAxisAcc = sensorInputs[AD_ACC_Z] - ZAxisAccOffset; |
| ZAcc = sensorInputs[AD_ACC_Z] - ZAccOffset; |
| #endif |
| break; |
| |
| 276,84 → 263,116 |
|---|
| case 10: // yaw gyro |
| rawYawGyroSum = sensorInputs[AD_GYRO_YAW]; |
| #ifdef GYRO_REVERSE_YAW |
| yawGyro = rawYawGyroSum - yawOffset; |
| yawGyro = rawYawGyroSum - yawGyroOffset; |
| #else |
| yawGyro = yawOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3). |
| yawGyro = yawGyroOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3). |
| #endif |
| break; |
| |
| case 11: // pitch axis acc. |
| #ifdef ACC_REVERSE_PITCHAXIS |
| pitchAxisAcc = -pitchAxisAccOffset - sensorInputs[AD_ACC_PITCH]; |
| acc[PITCH] = -accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
| #else |
| pitchAxisAcc = sensorInputs[AD_ACC_PITCH] - pitchAxisAccOffset; |
| acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
| #endif |
| filteredPitchAxisAcc = (filteredPitchAxisAcc * (ACC_FILTER-1) + pitchAxisAcc) / ACC_FILTER; |
| filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
| |
| measureNoise(pitchAxisAcc, &pitchAccNoisePeak, 1); |
| measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
| break; |
| |
| case 12: // roll axis acc. |
| #ifdef ACC_REVERSE_ROLLAXIS |
| rollAxisAcc = sensorInputs[AD_ACC_ROLL] - rollAxisAccOffset; |
| acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
| #else |
| rollAxisAcc = -rollAxisAccOffset - sensorInputs[AD_ACC_ROLL]; |
| acc[ROLL] = -accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
| #endif |
| filteredRollAxisAcc = (filteredRollAxisAcc * (ACC_FILTER-1) + rollAxisAcc) / ACC_FILTER; |
| measureNoise(rollAxisAcc, &rollAccNoisePeak, 1); |
| filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
| measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
| break; |
| |
| |
| case 13: // air pressure |
| if (sensorInputs[AD_AIRPRESSURE] < ADCENTER-HALFRANGE) { |
| if (pressure_wait) { |
| // A range switch was done recently. Wait for steadying. |
| pressure_wait--; |
| break; |
| } |
| range = OCR0A; |
| rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
| if (rawAirPressure < MIN_RAWPRESSURE) { |
| // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
| step -= ((HALFRANGE-sensorInputs[AD_AIRPRESSURE]) / stepsize + 1); |
| if (step<0) step = 0; |
| OCR0A = step; |
| // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off) |
| } else if (sensorInputs[AD_AIRPRESSURE] > ADCENTER+HALFRANGE) { |
| range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
| if (range < 0) range = 0; |
| pressure_wait = (OCR0A - range) * 4; |
| OCR0A = range; |
| } else if (rawAirPressure > MAX_RAWPRESSURE) { |
| // value is too high, so increase voltage on the op amp minus input, making the value lower. |
| step += ((sensorInputs[AD_AIRPRESSURE] - HALFRANGE)/stepsize + 1); |
| if (step>254) step = 254; |
| OCR0A = step; |
| // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off) |
| range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
| if (range > 254) range = 254; |
| pressure_wait = (range - OCR0A) * 4; |
| OCR0A = range; |
| } else { |
| filteredAirPressure = filterAirPressure(getAbsPressure(sensorInputs[AD_AIRPRESSURE])); |
| filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure)); |
| } |
| |
| DebugOut.Analog[12] = range; |
| DebugOut.Analog[13] = rawAirPressure; |
| DebugOut.Analog[14] = filteredAirPressure; |
| break; |
| |
| case 14: // pitch gyro |
| rawPitchGyroSum = sensorInputs[AD_GYRO_PITCH]; |
| // Filter already before offsetting. The offsetting resolution improvement obtained by divding by |
| // GYROS_FIRSTORDERFILTER _after_ offsetting is too small to be worth pursuing. |
| pitchGyroFilter = (pitchGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawPitchGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER; |
| // Offset to 0. |
| #ifdef GYROS_REVERSE_PITCH |
| tempOffsetGyro = pitchOffset - pitchGyroFilter; |
| #else |
| tempOffsetGyro = pitchGyroFilter - pitchOffset; |
| #endif |
| // Calculate the delta from last shot and filter it. |
| pitchGyroD = (pitchGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResPitchGyro)) / GYROS_DFILTER; |
| // How we can overwrite the last value. This value is used for the D part of the PID controller. |
| hiResPitchGyro = tempOffsetGyro; |
| // Filter a little more. This value is used in integration to angles. |
| filteredHiResPitchGyro = (filteredHiResPitchGyro * (GYROS_SECONDORDERFILTER-1) + hiResPitchGyro) / GYROS_SECONDORDERFILTER; |
| measureNoise(hiResPitchGyro, &pitchGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING); |
| case 14: |
| case 15: // pitch or roll gyro. |
| axis = state - 15; |
| tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
| // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
| /* |
| * Process the gyro data for the PID controller. |
| */ |
| // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
| // gyro with a wider range, and helps counter saturation at full control. |
| |
| if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
| if (tempGyro < SENSOR_MIN_PITCHROLL) { |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } |
| else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
| } |
| } |
| |
| // 2) Apply sign and offset, scale before filtering. |
| if (GYROS_REVERSE[axis]) { |
| tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| // 3) Scale and filter. |
| tempOffsetGyro = (gyro_PID[axis] * (GYROS_PIDFILTER-1) + tempOffsetGyro) / GYROS_PIDFILTER; |
| |
| // 4) Measure noise. |
| measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
| |
| // 5) Differential measurement. |
| gyroD[axis] = (gyroD[axis] * (GYROS_DFILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_DFILTER; |
| |
| // 6) Done. |
| gyro_PID[axis] = tempOffsetGyro; |
| |
| /* |
| * Now process the data for attitude angles. |
| */ |
| tempGyro = rawGyroSum[axis]; |
| |
| // 1) Apply sign and offset, scale before filtering. |
| if (GYROS_REVERSE[axis]) { |
| tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| // 2) Filter. |
| gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_INTEGRALFILTER-1) + tempOffsetGyro) / GYROS_INTEGRALFILTER; |
| break; |
| |
| case 15: // Roll gyro. Works the same as pitch. |
| rawRollGyroSum = sensorInputs[AD_GYRO_ROLL]; |
| rollGyroFilter = (rollGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawRollGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER; |
| #ifdef GYRO_REVERSE_ROLL |
| tempOffsetGyro = rollOffset - rollGyroFilter; |
| #else |
| tempOffsetGyro = rollGyroFilter - rollOffset; |
| #endif |
| rollGyroD = (rollGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResRollGyro)) / GYROS_DFILTER; |
| hiResRollGyro = tempOffsetGyro; |
| filteredHiResRollGyro = (filteredHiResRollGyro * (GYROS_SECONDORDERFILTER-1) + hiResRollGyro) / GYROS_SECONDORDERFILTER; |
| measureNoise(hiResRollGyro, &rollGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING); |
| break; |
| |
| case 16: |
| // battery |
| 390,7 → 409,7 |
|---|
| GYROS_DFILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
| ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
| |
| pitchOffset = rollOffset = yawOffset = 0; |
| gyroOffset[PITCH] = gyroOffset[ROLL] = yawGyroOffset = 0; |
| |
| gyro_calibrate(); |
| |
| 397,28 → 416,25 |
|---|
| // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(10); |
| _pitchOffset += rawPitchGyroSum * GYRO_FACTOR_PITCHROLL; |
| _rollOffset += rawRollGyroSum * GYRO_FACTOR_PITCHROLL; |
| _pitchOffset += rawGyroSum[PITCH]; |
| _rollOffset += rawGyroSum[ROLL]; |
| _yawOffset += rawYawGyroSum; |
| } |
| |
| pitchOffset = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| rollOffset = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| yawOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| gyroOffset[PITCH] = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| gyroOffset[ROLL] = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| yawGyroOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| |
| filteredHiResPitchGyro = filteredHiResRollGyro = 0; |
| |
| pitchAxisAccOffset = (int16_t)GetParamWord(PID_ACC_NICK); |
| rollAxisAccOffset = (int16_t)GetParamWord(PID_ACC_ROLL); |
| ZAxisAccOffset = (int16_t)GetParamWord(PID_ACC_TOP); |
| gyro_PID[PITCH] = gyro_PID[ROLL] = 0; |
| gyro_ATT[PITCH] = gyro_ATT[ROLL] = 0; |
| |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| pitchGyroNoisePeak = rollGyroNoisePeak = 0; |
| gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
| |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| Delay_ms_Mess(100); |
| accOffset[PITCH] = (int16_t)GetParamWord(PID_ACC_PITCH); |
| accOffset[ROLL] = (int16_t)GetParamWord(PID_ACC_ROLL); |
| ZAccOffset = (int16_t)GetParamWord(PID_ACC_TOP); |
| } |
| |
| /* |
| 432,22 → 448,54 |
|---|
| #define ACC_OFFSET_CYCLES 10 |
| uint8_t i; |
| int32_t _pitchAxisOffset = 0, _rollAxisOffset = 0, _ZAxisOffset = 0; |
| // int16_t pressureDiff, savedRawAirPressure; |
| |
| pitchAxisAccOffset = rollAxisAccOffset = ZAxisAccOffset = 0; |
| accOffset[PITCH] = accOffset[ROLL] = ZAccOffset = 0; |
| |
| for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(10); |
| _pitchAxisOffset += pitchAxisAcc; |
| _rollAxisOffset += rollAxisAcc; |
| _ZAxisOffset += ZAxisAcc; |
| _pitchAxisOffset += acc[PITCH]; |
| _rollAxisOffset += acc[ROLL]; |
| _ZAxisOffset += ZAcc; |
| } |
| |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_NICK, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| SetParamWord(PID_ACC_PITCH, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)((_rollAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| SetParamWord(PID_ACC_TOP, (uint16_t)((_ZAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
| |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| pitchAccNoisePeak = rollAccNoisePeak = 0; |
| accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| // Delay_ms_Mess(100); |
| |
| // Set the feedback so that air pressure ends up in the middle of the range. |
| // (raw pressure high --> OCR0A also high...) |
| // OCR0A += (rawAirPressure - 512) / rangewidth; |
| // Delay_ms_Mess(500); |
| |
| /* |
| pressureDiff = 0; |
| DebugOut.Analog[16] = rawAirPressure; |
| |
| #define PRESSURE_CAL_CYCLE_COUNT 2 |
| for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
| savedRawAirPressure = rawAirPressure; |
| OCR0A++; |
| Delay_ms_Mess(200); |
| // raw pressure will decrease. |
| pressureDiff += (savedRawAirPressure - rawAirPressure); |
| |
| savedRawAirPressure = rawAirPressure; |
| OCR0A--; |
| Delay_ms_Mess(200); |
| // raw pressure will increase. |
| pressureDiff += (rawAirPressure - savedRawAirPressure); |
| } |
| |
| DebugOut.Analog[15] = rangewidth = |
| (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
| */ |
| } |