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Ignore whitespace Rev 271 → Rev 272

/branches/v0.60_MicroMag3_Nick666/compass.c
124,7 → 124,7
y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));
// Winkelberechnung
heading = arctan_i(x_corr, y_corr);
heading = atan2_i(x_corr, y_corr);
 
return (heading);
}
/branches/v0.60_MicroMag3_Nick666/fc.c
652,6 → 652,9
// DebugOut.Analog[0] = MesswertNick;
// DebugOut.Analog[1] = MesswertRoll;
// DebugOut.Analog[2] = MesswertGier;
// DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor;
// DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor;
 
DebugOut.Analog[0] = MM3.NickGrad;
DebugOut.Analog[1] = MM3.RollGrad;
DebugOut.Analog[2] = Mittelwert_AccNick;
/branches/v0.60_MicroMag3_Nick666/math.c
16,9 → 16,10
#include "main.h"
 
 
const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
const uint8_t pgm_atan[540] PROGMEM = {0,1,1,2,2,3,3,4,5,5,6,6,7,7,8,9,9,10,10,11,11,12,12,13,13,14,15,15,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,27,28,28,29,29,30,30,31,31,31,32,32,33,33,33,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,40,41,41,41,42,42,42,43,43,43,44,44,44,44,45,45,45,46,46,46,46,47,47,47,47,48,48,48,48,49,49,49,49,50,50,50,50,51,51,51,51,52,52,52,52,52,53,53,53,53,53,54,54,54,54,54,55,55,55,55,55,56,56,56,56,56,56,57,57,57,57,57,58,58,58,58,58,58,58,59,59,59,59,59,59,60,60,60,60,60,60,60,61,61,61,61,61,61,61,61,62,62,62,62,62,62,62,62,63,63,63,63,63,63,63,63,64,64,64,64,64,64,64,64,64,65,65,65,65,65,65,65,65,65,65,66,66,66,66,66,66,66,66,66,66,67,67,67,67,67,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
 
signed int arctan_i(signed int x, signed int y)
// Arkustangens2 im Gradmaß
signed int atan2_i(signed int x, signed int y)
{
int i,angle;
int8_t m;
30,20 → 31,20
if (x==0) return (90*m); // atan2 = 90° für x = 0
i = abs(((float)y / x) * 50.0); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
i = abs(((double)y / x) * 100); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.01 -> *100)
 
if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>5750) angle = 90; // Grenzwert ist 90°
else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche
else if (i>=1150) angle = 88;
else if (i>=820) angle = 87;
else if (i>=640) angle = 86;
else if (i>=520) angle = 85;
else if (i>=440) angle = 84;
else if (i>=380) angle = 83;
else if (i>=335) angle = 82;
else if (i>=299) angle = 81;
else angle = 80; // (i>=270)
if (i<540) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>11458) angle = 90; // Grenzwert ist 90°
else if (i>3818) angle = 89; // 89° bis 80° über Wertebereiche
else if (i>2290) angle = 88;
else if (i>1634) angle = 87;
else if (i>1270) angle = 86;
else if (i>1038) angle = 85;
else if (i>877) angle = 84;
else if (i>759) angle = 83;
else if (i>669) angle = 82;
else if (i>597) angle = 81;
else angle = 80; // (i>539)
if (x > 0) return (angle*m); // Quadrant I und IV
else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II
70,34 → 71,36
return u.f;
}
 
// cosinus Funktion: Eingabewert Winkel in Grad
float cos_f(signed int winkel)
 
// Kosinusfunktion im Gradmaß
float cos_f(signed int alpha)
{
return (sin_f(90-winkel));
return (sin_f(90-alpha));
}
 
// sinus Funktion: Eingabewert Winkel in Grad
float sin_f(signed int winkel)
 
// Sinusfunktion im Gradmaß
float sin_f(signed int alpha)
{
short int m,n;
float sinus;
//winkel = winkel % 360;
//alpha = alpha % 360;
if (winkel < 0)
if (alpha < 0)
{
m = -1;
winkel = abs(winkel);
alpha = abs(alpha);
}
else m = +1;
// Quadranten auswerten
if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;}
else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;}
else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;}
if ((alpha > 90 ) && (alpha <= 180)) {alpha = 180 - alpha; n = 1;}
else if ((alpha > 180 ) && (alpha <= 270)) {alpha = alpha - 180; n = -1;}
else if ((alpha > 270) && (alpha <= 360)) {alpha = 360 - alpha; n = -1;}
else n = 1; //0 - 90 Grad
 
sinus = pgm_read_float(&pgm_sinus_f[winkel]);
sinus = pgm_read_float(&pgm_sinus_f[alpha]);
 
return (sinus*m*n);
}
106,6 → 109,7
const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90};
 
 
// Arkussinusfunktion im Gradmaß
signed char asin_i(signed int i)
{
signed char m;
/branches/v0.60_MicroMag3_Nick666/math.h
5,7 → 5,7
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
extern signed int arctan_i(signed int x, signed int y);
extern float cos_f(signed int winkel);
extern float sin_f(signed int winkel);
 
extern signed int atan2_i(signed int x, signed int y);
extern float cos_f(signed int alpha);
extern float sin_f(signed int alpha);
extern signed char asin_i(signed int i);