84,11 → 84,11 |
* The variables are overwritten at each attitude calculation invocation - the values |
* are not preserved or reused. |
*/ |
int16_t pitchRate, rollRate, yawRate; |
int16_t rate[2], yawRate; |
|
// With different (less) filtering |
int16_t pitchRate_PID, rollRate_PID; |
int16_t pitchDifferential, rollDifferential; |
int16_t rate_PID[2]; |
int16_t differential[2]; |
|
/* |
* Gyro readings, after performing "axis coupling" - that is, the transfomation |
99,13 → 99,13 |
* The variables are overwritten at each attitude calculation invocation - the values |
* are not preserved or reused. |
*/ |
int16_t ACPitchRate, ACRollRate, ACYawRate; |
int16_t ACRate[2], ACYawRate; |
|
/* |
* Gyro integrals. These are the rotation angles of the airframe compared to the |
* horizontal plane, yaw relative to yaw at start. |
*/ |
int32_t pitchAngle, rollAngle, yawAngle; |
int32_t angle[2], yawAngle; |
|
int readingHeight = 0; |
|
124,12 → 124,12 |
#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
#define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
|
int32_t pitchCorrectionSum = 0, rollCorrectionSum = 0; |
int32_t correctionSum[2] = {0,0}; |
|
/* |
* Experiment: Compensating for dynamic-induced gyro biasing. |
*/ |
int16_t dynamicOffsetPitch = 0, dynamicOffsetRoll = 0, dynamicOffsetYaw = 0; |
int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 0; |
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
// int16_t dynamicCalCount; |
144,21 → 144,16 |
* it is hardly worth the trouble. |
************************************************************************/ |
|
int32_t getPitchAngleEstimateFromAcc(void) { |
return GYRO_ACC_FACTOR * (int32_t)filteredPitchAxisAcc; |
int32_t getAngleEstimateFromAcc(uint8_t axis) { |
return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis]; |
} |
|
int32_t getRollAngleEstimateFromAcc(void) { |
return GYRO_ACC_FACTOR * (int32_t)filteredRollAxisAcc; |
} |
|
void setStaticAttitudeAngles(void) { |
#ifdef ATTITUDE_USE_ACC_SENSORS |
pitchAngle = getPitchAngleEstimateFromAcc(); |
rollAngle = getRollAngleEstimateFromAcc(); |
angle[PITCH] = getAngleEstimateFromAcc(PITCH); |
angle[ROLL] = getAngleEstimateFromAcc(ROLL); |
#else |
pitchAngle = 0; |
rollAngle = 0; |
angle[PITCH] = angle[ROLL] = 0; |
#endif |
} |
|
169,13 → 164,13 |
// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0; |
|
dynamicOffsetPitch = dynamicOffsetRoll = 0; |
dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0; |
|
// Calibrate hardware. |
analog_calibrate(); |
|
// reset gyro readings |
pitchRate = rollRate = yawRate = 0; |
rate[PITCH] = rate[ROLL] = yawRate = 0; |
|
// reset gyro integrals to acc guessing |
setStaticAttitudeAngles(); |
192,70 → 187,26 |
/************************************************************************ |
* Get sensor data from the analog module, and release the ADC |
* TODO: Ultimately, the analog module could do this (instead of dumping |
* the values into variables). |
* the values into variables). |
* The rate variable end up in a range of about [-1024, 1023]. |
* When scaled down by CONTROL_SCALING, the interval is about [-256, 256]. |
*************************************************************************/ |
void getAnalogData(void) { |
// For the differential calculation. Diff. is not supported right now. |
// int16_t d2Pitch, d2Roll; |
pitchRate_PID = (hiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
pitchRate = (filteredHiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
pitchDifferential = pitchGyroD; |
|
rollRate_PID = (hiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
rollRate = (filteredHiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
rollDifferential = rollGyroD; |
|
uint8_t axis; |
|
for (axis=PITCH; axis <=ROLL; axis++) { |
rate_PID[axis] = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR; |
rate[axis] = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR; |
differential[axis] = gyroD[axis]; |
} |
yawRate = yawGyro + dynamicOffsetYaw; |
|
// We are done reading variables from the analog module. Interrupt-driven sensor reading may restart. |
// We are done reading variables from the analog module. |
// Interrupt-driven sensor reading may restart. |
analogDataReady = 0; |
analog_start(); |
} |
|
/************************************************************************ |
* Axis coupling, H&I Style |
* Currently not working (and there is a bug in it, |
* which causes unstable flight in heading-hold mode). |
************************************************************************/ |
void H_and_I_axisCoupling(void) { |
int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
|
tmp13 = (rollRate * pitchAngle) / 2048L; |
tmp13 *= dynamicParams.AxisCoupling2; // 65 |
tmp13 /= 4096L; |
CouplingNickRoll = tmp13; |
|
tmp14 = (pitchRate * rollAngle) / 2048L; |
tmp14 *= dynamicParams.AxisCoupling2; // 65 |
tmp14 /= 4096L; |
CouplingRollNick = tmp14; |
|
tmp14 -= tmp13; |
|
ACYawRate = yawRate + tmp14; |
|
/* |
if(!dynamicParams.AxisCouplingYawCorrection) ACYawRate = yawRate - tmp14 / 2; // force yaw |
else ACYawRate |
*/ |
|
tmpl = ((yawRate + tmp14) * pitchAngle) / 2048L; |
tmpl *= dynamicParams.AxisCoupling1; |
tmpl /= 4096L; |
|
tmpl2 = ((yawRate + tmp14) * rollAngle) / 2048L; |
tmpl2 *= dynamicParams.AxisCoupling1; |
tmpl2 /= 4096L; |
|
// if(abs(yawRate > 64)) { |
// if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
// } |
|
ACPitchRate = pitchRate - tmpl2 + tmpl / 100L; |
ACRollRate = rollRate + tmpl - tmpl2 / 100L; |
} |
|
/* |
* This is the standard flight-style coordinate system transformation |
* (from airframe-local axes to a ground-based system). For some reason |
263,49 → 214,38 |
* changed accordingly. |
*/ |
void trigAxisCoupling(void) { |
int16_t cospitch = int_cos(pitchAngle); |
int16_t cosroll = int_cos(rollAngle); |
int16_t sinroll = int_sin(rollAngle); |
int16_t tanpitch = int_tan(pitchAngle); |
int16_t cospitch = int_cos(angle[PITCH]); |
int16_t cosroll = int_cos(angle[ROLL]); |
int16_t sinroll = int_sin(angle[ROLL]); |
int16_t tanpitch = int_tan(angle[PITCH]); |
#define ANTIOVF 1024 |
ACPitchRate = ((int32_t)pitchRate * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
ACRollRate = rollRate + (((int32_t)pitchRate * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(rollAngle) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
ACYawRate = ((int32_t)pitchRate * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
ACRate[PITCH] = ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
ACRate[ROLL] = rate[ROLL] + (((int32_t)rate[PITCH] * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(angle[ROLL]) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
ACYawRate = ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
} |
|
void integrate(void) { |
// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
uint8_t axis; |
|
if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) { |
// The rotary rate limiter bit is abused for selecting axis coupling algorithm instead. |
if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) |
trigAxisCoupling(); |
else |
H_and_I_axisCoupling(); |
trigAxisCoupling(); |
} else { |
ACPitchRate = pitchRate; |
ACRollRate = rollRate; |
ACRate[PITCH] = rate[PITCH]; |
ACRate[ROLL] = rate[ROLL]; |
ACYawRate = yawRate; |
} |
|
DebugOut.Analog[3] = pitchRate; |
// DebugOut.Analog[3 + 3] = ACPitchRate; |
DebugOut.Analog[4] = rollRate; |
// DebugOut.Analog[4 + 3] = ACRollRate; |
DebugOut.Analog[5] = yawRate; |
// DebugOut.Analog[5 + 3] = ACYawRate; |
DebugOut.Analog[3] = ACRate[PITCH]; |
DebugOut.Analog[4] = ACRate[ROLL]; |
DebugOut.Analog[5] = ACYawRate; |
|
/* |
DebugOut.Analog[9] = int_cos(pitchAngle); |
DebugOut.Analog[10] = int_sin(pitchAngle); |
DebugOut.Analog[11] = int_tan(pitchAngle); |
*/ |
|
/* |
* Yaw |
* Calculate yaw gyro integral (~ to rotation angle) |
* Limit yawGyroHeading proportional to 0 deg to 360 deg |
*/ |
|
yawGyroHeading += ACYawRate; |
|
// Why is yawAngle not wrapped 'round? |
320,22 → 260,14 |
/* |
* Pitch axis integration and range boundary wrap. |
*/ |
pitchAngle += ACPitchRate; |
if(pitchAngle > PITCHROLLOVER180) { |
pitchAngle -= PITCHROLLOVER360; |
} else if (pitchAngle <= -PITCHROLLOVER180) { |
pitchAngle += PITCHROLLOVER360; |
for (axis=PITCH; axis<=ROLL; axis++) { |
angle[axis] += ACRate[axis]; |
if(angle[axis] > PITCHROLLOVER180) { |
angle[axis] -= PITCHROLLOVER360; |
} else if (angle[axis] <= -PITCHROLLOVER180) { |
angle[axis] += PITCHROLLOVER360; |
} |
} |
|
/* |
* Pitch axis integration and range boundary wrap. |
*/ |
rollAngle += ACRollRate; |
if(rollAngle > PITCHROLLOVER180) { |
rollAngle -= PITCHROLLOVER360; |
} else if (rollAngle <= -PITCHROLLOVER180) { |
rollAngle += PITCHROLLOVER360; |
} |
} |
|
/************************************************************************ |
349,17 → 281,16 |
// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
// are less than ....., or reintroduce Kalman. |
// Well actually the Z axis acc. check is not so silly. |
if(!looping && //((ZAxisAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
ZAxisAcc >= -dynamicParams.UserParams[7] && ZAxisAcc <= dynamicParams.UserParams[7]) { |
uint8_t axis; |
if(!looping && //((ZAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
ZAcc >= -dynamicParams.UserParams[7] && ZAcc <= dynamicParams.UserParams[7]) { |
DebugOut.Digital[0] = 1; |
|
uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
uint8_t debugFullWeight = 1; |
int32_t accDerived[2]; |
|
int32_t accDerivedPitch = getPitchAngleEstimateFromAcc(); |
int32_t accDerivedRoll = getRollAngleEstimateFromAcc(); |
|
if((maxControlPitch > 64) || (maxControlRoll > 64)) { // reduce effect during stick commands |
if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands |
permilleAcc /= 2; |
debugFullWeight = 0; |
} |
372,13 → 303,14 |
/* |
* Add to each sum: The amount by which the angle is changed just below. |
*/ |
pitchCorrectionSum += permilleAcc * (accDerivedPitch - pitchAngle); |
rollCorrectionSum += permilleAcc * (accDerivedRoll - rollAngle); |
for (axis=PITCH; axis<=ROLL; axis++) { |
accDerived[axis] = getAngleEstimateFromAcc(axis); |
correctionSum[axis] += permilleAcc * (accDerived[axis] - angle[axis]); |
|
// There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
pitchAngle = ((int32_t)(1000 - permilleAcc) * pitchAngle + (int32_t)permilleAcc * accDerivedPitch) / 1000L; |
rollAngle = ((int32_t)(1000 - permilleAcc) * rollAngle + (int32_t)permilleAcc * accDerivedRoll) / 1000L; |
|
// There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived[axis]) / 1000L; |
} |
|
DebugOut.Digital[1] = debugFullWeight; |
} else { |
DebugOut.Digital[0] = 0; |
400,20 → 332,16 |
void driftCompensation(void) { |
static int16_t timer = DRIFTCORRECTION_TIME; |
int16_t deltaCompensation; |
uint8_t axis; |
if (! --timer) { |
timer = DRIFTCORRECTION_TIME; |
deltaCompensation = ((pitchCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
dynamicOffsetPitch += deltaCompensation / staticParams.GyroAccTrim; |
|
deltaCompensation = ((rollCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
dynamicOffsetRoll += deltaCompensation / staticParams.GyroAccTrim; |
|
pitchCorrectionSum = rollCorrectionSum = 0; |
|
DebugOut.Analog[28] = dynamicOffsetPitch; |
DebugOut.Analog[29] = dynamicOffsetRoll; |
for (axis=PITCH; axis<=ROLL; axis++) { |
deltaCompensation = ((correctionSum[axis] + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
dynamicOffset[axis] += deltaCompensation / staticParams.GyroAccTrim; |
correctionSum[axis] = 0; |
DebugOut.Analog[28 + axis] = dynamicOffset; |
} |
} |
} |
|
430,56 → 358,56 |
} |
|
/* |
void updateCompass(void) { |
void updateCompass(void) { |
int16_t w, v, r,correction, error; |
|
if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
setCompassCalState(); |
setCompassCalState(); |
} else { |
// get maximum attitude angle |
w = abs(pitchAngle / 512); |
v = abs(rollAngle / 512); |
if(v > w) w = v; |
correction = w / 8 + 1; |
// calculate the deviation of the yaw gyro heading and the compass heading |
if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
if(abs(yawRate) > 128) { // spinning fast |
error = 0; |
} |
if(!badCompassHeading && w < 25) { |
if(updateCompassCourse) { |
beep(200); |
yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
updateCompassCourse = 0; |
} |
} |
yawGyroHeading += (error * 8) / correction; |
w = (w * dynamicParams.CompassYawEffect) / 32; |
w = dynamicParams.CompassYawEffect - w; |
if(w >= 0) { |
if(!badCompassHeading) { |
v = 64 + (maxControlPitch + maxControlRoll) / 8; |
// calc course deviation |
r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
v = (r * w) / v; // align to compass course |
// limit yaw rate |
w = 3 * dynamicParams.CompassYawEffect; |
if (v > w) v = w; |
else if (v < -w) v = -w; |
yawAngle += v; |
} |
else |
{ // wait a while |
badCompassHeading--; |
} |
} |
else { // ignore compass at extreme attitudes for a while |
badCompassHeading = 500; |
} |
// get maximum attitude angle |
w = abs(pitchAngle / 512); |
v = abs(rollAngle / 512); |
if(v > w) w = v; |
correction = w / 8 + 1; |
// calculate the deviation of the yaw gyro heading and the compass heading |
if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
if(abs(yawRate) > 128) { // spinning fast |
error = 0; |
} |
} |
if(!badCompassHeading && w < 25) { |
if(updateCompassCourse) { |
beep(200); |
yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
updateCompassCourse = 0; |
} |
} |
yawGyroHeading += (error * 8) / correction; |
w = (w * dynamicParams.CompassYawEffect) / 32; |
w = dynamicParams.CompassYawEffect - w; |
if(w >= 0) { |
if(!badCompassHeading) { |
v = 64 + (maxControlPitch + maxControlRoll) / 8; |
// calc course deviation |
r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
v = (r * w) / v; // align to compass course |
// limit yaw rate |
w = 3 * dynamicParams.CompassYawEffect; |
if (v > w) v = w; |
else if (v < -w) v = -w; |
yawAngle += v; |
} |
else |
{ // wait a while |
badCompassHeading--; |
} |
} |
else { // ignore compass at extreme attitudes for a while |
badCompassHeading = 500; |
} |
} |
} |
*/ |
|
/* |
491,12 → 419,12 |
* speed unfortunately... must find a better way) |
*/ |
/* |
void attitude_startDynamicCalibration(void) { |
void attitude_startDynamicCalibration(void) { |
dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
} |
} |
|
void attitude_continueDynamicCalibration(void) { |
void attitude_continueDynamicCalibration(void) { |
// measure dynamic offset now... |
dynamicCalPitch += hiResPitchGyro; |
dynamicCalRoll += hiResRollGyro; |
505,18 → 433,18 |
|
// Param6: Manual mode. The offsets are taken from Param7 and Param8. |
if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
// manual mode |
dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
// manual mode |
dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
} else { |
// use the sampled value (does not seem to work so well....) |
dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
// use the sampled value (does not seem to work so well....) |
dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
} |
|
// keep resetting these meanwhile, to avoid accumulating errors. |
setStaticAttitudeIntegrals(); |
yawAngle = 0; |
} |
} |
*/ |