| 84,10 → 84,8 |
|---|
| * the offsets with the DAC. |
| */ |
| volatile uint16_t sensorInputs[8]; |
| volatile int16_t rawGyroSum[3]; |
| volatile int16_t acc[3]; |
| volatile int16_t filteredAcc[3] = { 0,0,0 }; |
| // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
| int16_t acc[3]; |
| int16_t filteredAcc[3] = { 0,0,0 }; |
| |
| /* |
| * These 4 exported variables are zero-offset. The "PID" ones are used |
| 94,10 → 92,10 |
|---|
| * in the attitude control as rotation rates. The "ATT" ones are for |
| * integration to angles. |
| */ |
| volatile int16_t gyro_PID[2]; |
| volatile int16_t gyro_ATT[2]; |
| volatile int16_t gyroD[2]; |
| volatile int16_t yawGyro; |
| int16_t gyro_PID[2]; |
| int16_t gyro_ATT[2]; |
| int16_t gyroD[2]; |
| int16_t yawGyro; |
| |
| /* |
| * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| 110,10 → 108,57 |
|---|
| sensorOffset_t gyroAmplifierOffset; |
| |
| /* |
| * This allows some experimentation with the gyro filters. |
| * Should be replaced by #define's later on... |
| * In the MK coordinate system, nose-down is positive and left-roll is positive. |
| * If a sensor is used in an orientation where one but not both of the axes has |
| * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
| * Transform: |
| * pitch <- pp*pitch + pr*roll |
| * roll <- rp*pitch + rr*roll |
| * Not reversed, GYRO_QUADRANT: |
| * 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
| * 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
| * 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
| * 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
| * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
| * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
| * 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
| * 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
| * Reversed, GYRO_QUADRANT: |
| * 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
| * 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
| * 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
| * 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
| * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
| * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
| * 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
| * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
| */ |
| |
| void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
| static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
| // Pitch to Pitch part |
| int8_t xx = (reverse & 1) ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
| // Roll to Pitch part |
| int8_t xy = rotationTab[(quadrant+2)%8]; |
| // Pitch to Roll part |
| int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
| // Roll to Roll part |
| int8_t yy = rotationTab[quadrant]; |
| |
| int16_t xIn = result[0]; |
| result[0] = xx*result[0] + xy*result[1]; |
| result[1] = yx*xIn + yy*result[1]; |
| |
| if (quadrant & 1) { |
| // A rotation was used above, where the factors were too large by sqrt(2). |
| // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
| // A suitable value for n: Sample is 11 bits. After transformation it is the sum |
| // of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
| result[0] = (result[0]*11) >> 4; |
| result[1] = (result[1]*11) >> 4; |
| } |
| } |
| |
| /* |
| * Air pressure |
| */ |
| 123,16 → 168,16 |
|---|
| // volatile uint16_t rawAirPressure; |
| |
| // Value of 2 samples, with range. |
| volatile uint16_t simpleAirPressure; |
| uint16_t simpleAirPressure; |
| |
| // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
| volatile int32_t filteredAirPressure; |
| int32_t filteredAirPressure; |
| |
| // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
| volatile int32_t airPressureSum; |
| int32_t airPressureSum; |
| |
| // The number of samples summed into airPressureSum so far. |
| volatile uint8_t pressureMeasurementCount; |
| uint8_t pressureMeasurementCount; |
| |
| /* |
| * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
| 139,7 → 184,7 |
|---|
| * That is divided by 3 below, for a final 10.34 per volt. |
| * So the initial value of 100 is for 9.7 volts. |
| */ |
| volatile int16_t UBat = 100; |
| int16_t UBat = 100; |
| |
| /* |
| * Control and status. |
| 150,8 → 195,8 |
|---|
| /* |
| * Experiment: Measuring vibration-induced sensor noise. |
| */ |
| volatile uint16_t gyroNoisePeak[3]; |
| volatile uint16_t accNoisePeak[3]; |
| uint16_t gyroNoisePeak[3]; |
| uint16_t accNoisePeak[3]; |
| |
| volatile uint8_t adState; |
| volatile uint8_t adChannel; |
| 225,6 → 270,14 |
|---|
| SREG = sreg; |
| } |
| |
| uint16_t rawGyroValue(uint8_t axis) { |
| return sensorInputs[AD_GYRO_PITCH-axis]; |
| } |
| |
| uint16_t rawAccValue(uint8_t axis) { |
| return sensorInputs[AD_ACC_PITCH-axis]; |
| } |
| |
| void measureNoise(const int16_t sensor, |
| volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
| if (sensor > (int16_t) (*noiseMeasurement)) { |
| 282,12 → 335,12 |
|---|
| |
| void analog_updateGyros(void) { |
| // for various filters... |
| int16_t tempOffsetGyro, tempGyro; |
| int16_t tempOffsetGyro[2], tempGyro; |
| |
| debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
| for (uint8_t axis=0; axis<2; axis++) { |
| tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
| |
| tempGyro = rawGyroValue(axis); |
| |
| /* |
| * Process the gyro data for the PID controller. |
| */ |
| 296,53 → 349,49 |
|---|
| |
| if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
| if (tempGyro < SENSOR_MIN_PITCHROLL) { |
| debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
| + SENSOR_MAX_PITCHROLL; |
| debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
| } |
| } |
| |
| |
| // 2) Apply sign and offset, scale before filtering. |
| if (GYRO_REVERSED[axis]) { |
| tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| // 3) Scale and filter. |
| tempOffsetGyro = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroPIDFilterConstant; |
| |
| tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| // 2.1: Transform axes. |
| rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & 1); |
| |
| for (uint8_t axis=0; axis<2; axis++) { |
| // 3) Filter. |
| tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / staticParams.gyroPIDFilterConstant; |
| |
| // 4) Measure noise. |
| measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
| |
| measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
| |
| // 5) Differential measurement. |
| gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
| |
| gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
| |
| // 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 (GYRO_REVERSED[axis]) { |
| tempOffsetGyro = (gyroOffset.offsets[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| // 2) Filter. |
| gyro_ATT[axis] = (gyro_ATT[axis] * (staticParams.gyroATTFilterConstant - 1) + tempOffsetGyro) / staticParams.gyroATTFilterConstant; |
| gyro_PID[axis] = tempOffsetGyro[axis]; |
| |
| // Prepare tempOffsetGyro for next calculation below... |
| tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| |
| /* |
| * Now process the data for attitude angles. |
| */ |
| rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & 1); |
| |
| // 2) Filter. This should really be quite unnecessary. The integration should gobble up any noise anyway and the values are not used for anything else. |
| // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
| // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
| |
| // Yaw gyro. |
| rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
| if (GYRO_REVERSED[YAW]) |
| if (staticParams.imuReversedFlags & 2) |
| yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
| else |
| yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
| 349,24 → 398,23 |
|---|
| } |
| |
| void analog_updateAccelerometers(void) { |
| // Z acc. |
| if (ACC_REVERSED[Z]) |
| acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
| |
| // Pitch and roll axis accelerations. |
| for (uint8_t axis=0; axis<2; axis++) { |
| if (ACC_REVERSED[axis]) |
| acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
| else |
| acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
| acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
| } |
| |
| for (uint8_t axis=0; axis<3; axis++) { |
| |
| rotate(acc, staticParams.accQuadrant, staticParams.imuReversedFlags & 4); |
| |
| for(uint8_t axis=0; axis<3; axis++) { |
| filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
| measureNoise(acc[axis], &accNoisePeak[axis], 1); |
| } |
| |
| // Z acc. |
| if (staticParams.imuReversedFlags & 8) |
| acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
| } |
| |
| void analog_updateAirPressure(void) { |
| 488,7 → 536,7 |
|---|
| |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| delay_ms_with_adc_measurement(100); |
| delay_ms_with_adc_measurement(100, 0); |
| |
| // Rough estimate. Hmm no nothing happens at calibration anyway. |
| // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
| 503,9 → 551,9 |
|---|
| |
| // 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_with_adc_measurement(20); |
| delay_ms_with_adc_measurement(10, 1); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| offsets[axis] += rawGyroSum[axis]; |
| offsets[axis] += rawGyroValue(axis); |
| } |
| } |
| |
| 514,6 → 562,7 |
|---|
| } |
| |
| gyroOffset_writeToEEProm(); |
| startAnalogConversionCycle(); |
| } |
| |
| /* |
| 524,23 → 573,22 |
|---|
| * directly from here, though. |
| */ |
| void analog_calibrateAcc(void) { |
| #define ACC_OFFSET_CYCLES 10 |
| #define ACC_OFFSET_CYCLES 32 |
| uint8_t i, axis; |
| int32_t deltaOffset[3] = { 0, 0, 0 }; |
| int32_t offsets[3] = { 0, 0, 0 }; |
| int16_t filteredDelta; |
| |
| |
| for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
| delay_ms_with_adc_measurement(10); |
| delay_ms_with_adc_measurement(10, 1); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| deltaOffset[axis] += acc[axis]; |
| offsets[axis] += rawAccValue(axis); |
| } |
| } |
| |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
| / ACC_OFFSET_CYCLES; |
| accOffset.offsets[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
| accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
| } |
| |
| accOffset_writeToEEProm(); |
| accOffset_writeToEEProm(); |
| startAnalogConversionCycle(); |
| } |