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Ignore whitespace Rev 1820 → Rev 1821

/branches/dongfang_FC_rewrite/attitude.c
239,9 → 239,8
ACRate[PITCH] = ((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate
* sinroll) / (int32_t) MATH_UNIT_FACTOR;
ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t) rate_ATT[PITCH] * sinroll
/ ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL])
/ ANTIOVF * tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF
* MATH_UNIT_FACTOR));
/ ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) / ANTIOVF
* tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));
ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch
+ ((int32_t) yawRate * cosroll) / cospitch;
}
327,8 → 326,7
*/
for (axis = PITCH; axis <= ROLL; axis++) {
accDerived = getAngleEstimateFromAcc(axis);
DebugOut.Analog[9 + axis] = (10 * accDerived)
/ GYRO_DEG_FACTOR_PITCHROLL;
DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
 
// 1000 * the correction amount that will be added to the gyro angle in next line.
correction = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
370,16 → 368,14
timer = DRIFTCORRECTION_TIME;
for (axis = PITCH; axis <= ROLL; axis++) {
// Take the sum of corrections applied, add it to delta
deltaCorrection = (correctionSum[axis]
* HIRES_GYRO_INTEGRATION_FACTOR + DRIFTCORRECTION_TIME / 2)
/ DRIFTCORRECTION_TIME;
deltaCorrection = (correctionSum[axis] * HIRES_GYRO_INTEGRATION_FACTOR
+ DRIFTCORRECTION_TIME / 2) / DRIFTCORRECTION_TIME;
// Add the delta to the compensation. So positive delta means, gyro should have higher value.
driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;
CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);
// DebugOut.Analog[11 + axis] = correctionSum[axis];
 
DebugOut.Analog[18 + axis] = deltaCorrection
/ staticParams.GyroAccTrim;
DebugOut.Analog[18 + axis] = deltaCorrection / staticParams.GyroAccTrim;
DebugOut.Analog[28 + axis] = driftComp[axis];
 
correctionSum[axis] = 0;
432,16 → 428,16
v = abs(angle[ROLL] / 512);
if (v > w)
w = v;
correction = w/8 + 1;
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
if (abs(yawRate) > 128) { // spinning fast
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)) % 360) - 180;
error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW))
% 360) - 180;
}
if (!ignoreCompassTimer && w < 25) {
yawGyroDrift += error;
456,10 → 452,11
yawGyroHeading += (error * 8) / correction;
 
/*
w = (w * dynamicParams.CompassYawEffect) / 32;
w = dynamicParams.CompassYawEffect - w;
*/
w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect) / 32;
w = (w * dynamicParams.CompassYawEffect) / 32;
w = dynamicParams.CompassYawEffect - w;
*/
w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect)
/ 32;
 
// As readable formula:
// w = dynamicParams.CompassYawEffect * (1-w/32);
468,7 → 465,9
if (!ignoreCompassTimer) {
v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;
// yawGyroHeading - compassCourse on a -180..179 degree interval.
r = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse) % 360) - 180;
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;