| /branches/dongfang_FC_rewrite/TODO-list.txt |
|---|
| 0,0 → 1,2 |
| - Check that yaw attitude mesaurement (excl. compass) and control (with the difference that H H can be turned off) are working just about as in H&I code. |
| - Check that acc. mode looping is still complete and "safe" to use. |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 120,8 → 120,9 |
| uint16_t badCompassHeading = 500; |
| int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
| int32_t turnOver180 = GYRO_DEG_FACTOR_PITCHROLL * 180L; |
| int32_t turnOver360 = GYRO_DEG_FACTOR_PITCHROLL * 360L; |
| #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
| #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
| #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
| int32_t pitchCorrectionSum = 0, rollCorrectionSum = 0; |
| 137,8 → 138,8 |
| * Set inclination angles from the acc. sensor data. |
| * If acc. sensors are not used, set to zero. |
| * TODO: One could use inverse sine to calculate the angles more |
| * accurately, but sinc: 1) the angles are rather at times when it |
| * makes sense to set the integrals (standing on ground, or flying at |
| * accurately, but since: 1) the angles are rather small at times when |
| * it makes sense to set the integrals (standing on ground, or flying at |
| * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
| * it is hardly worth the trouble. |
| ************************************************************************/ |
| 207,7 → 208,6 |
| yawRate = yawGyro + dynamicOffsetYaw; |
| // We are done reading variables from the analog module. Interrupt-driven sensor reading may restart. |
| // TODO: Is that not a little early to measure for next control invocation? |
| analogDataReady = 0; |
| analog_start(); |
| } |
| 307,17 → 307,17 |
| */ |
| yawGyroHeading += ACYawRate; |
| yawAngle += ACYawRate; |
| if(yawGyroHeading >= (360L * GYRO_DEG_FACTOR_YAW)) yawGyroHeading -= 360L * GYRO_DEG_FACTOR_YAW; // 360 deg. wrap |
| if(yawGyroHeading < 0) yawGyroHeading += 360L * GYRO_DEG_FACTOR_YAW; |
| if(yawGyroHeading >= YAWOVER360) yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
| else if(yawGyroHeading < 0) yawGyroHeading += YAWOVER360; |
| /* |
| * Pitch axis integration and range boundary wrap. |
| */ |
| pitchAngle += ACPitchRate; |
| if(pitchAngle > turnOver180) { |
| pitchAngle -= turnOver360; |
| } else if (pitchAngle <= -turnOver180) { |
| pitchAngle += turnOver360; |
| if(pitchAngle > PITCHROLLOVER180) { |
| pitchAngle -= PITCHROLLOVER360; |
| } else if (pitchAngle <= -PITCHROLLOVER180) { |
| pitchAngle += PITCHROLLOVER360; |
| } |
| /* |
| 324,10 → 324,10 |
| * Pitch axis integration and range boundary wrap. |
| */ |
| rollAngle += ACRollRate; |
| if(rollAngle > turnOver180) { |
| rollAngle -= turnOver360; |
| } else if (rollAngle <= -turnOver180) { |
| rollAngle += turnOver360; |
| if(rollAngle > PITCHROLLOVER180) { |
| rollAngle -= PITCHROLLOVER360; |
| } else if (rollAngle <= -PITCHROLLOVER180) { |
| rollAngle += PITCHROLLOVER360; |
| } |
| } |
| /branches/dongfang_FC_rewrite/control.h |
|---|
| 2,6 → 2,7 |
| Stick control interface |
| #######################################################################################*/ |
| /* |
| OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler? |
| #ifndef _CONTROL_H |
| #define _CONTROL_H |
| /branches/dongfang_FC_rewrite/flight.h |
|---|
| 12,7 → 12,7 |
| extern uint8_t RequiredMotors; |
| // looping params |
| extern long TurnOver180Nick, TurnOver180Roll; |
| // extern long TurnOver180Nick, TurnOver180Roll; |
| // external control |
| extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
| /branches/dongfang_FC_rewrite/readme.txt |
|---|
| 5,6 → 5,7 |
| Goal: |
| - To be the preferred hacker-friendly FC firmware. |
| - To use H&Is design experience but make the code clearer and easier to extend+modify. |
| Non-goal: |
| - To follow up on all changes and all new features in the H&I firmware. |
| 16,6 → 17,13 |
| Global variables are (almost) only written to by one module each. |
| - New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible, |
| and resetting the sensitivity actually works. |
| - New or experiemental controls are easy to incorporate. All controls (eg. R/C, external |
| serial, NC, automatic emergency landing pilot and automatic altitude controller pilot) |
| are potentially abstractable to one interface. |
| - Reversal of gyro or accelerometer axes is easy. It is easy to adapt the firmware for |
| upside down installation of the FC too. |
| - The firmware is compatible with MK-Tool. This may be changed, if somebody writes a new |
| MK-Tool which is easy to adapt for addition of / removal of features. |
| Non-features (currently): |
| - Navi support temporarily removed (should be added again later). |
| 27,4 → 35,11 |
| - Automatic board detection removed. This firmware is for compiling yourself, possibly |
| with nonstandard or experimental hardware. That conflicts with automatically switching |
| between standard hardware versions, so the feature was removed. Instead, is was made |
| easy to choose gyro types etc. in the makefile. |
| easy to choose gyro types etc. in the makefile. |
| How to build: |
| - Choose a gyro definition, depending on your hardware, and enable it in the makefile |
| and (GYRO=.....) and #include its header file in analog.h (how to make that follow the |
| makefile automatically?). Currently, ENC-03_FC1.3, ADXRS610_FC2.0 and invenSense are |
| supported (each has a .c and a .h file). |
| - make all |