WebSVN - FlightCtrl - Path Comparison - /branches/ Rev 1633 and /branches/ Rev 1634

Ignore whitespace Rev 1633 → Rev 1634

 /branches/dongfang_FC_rewrite/analog.c
 ,6 → 124,8
  */
 volatile int16_t UBat = 100;
+volatile int16_t filteredAirPressure;
 /*
  * Control and status.
  */
 ,14 → 139,14
 volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak;
 // ADC channels
-#define AD_GYRO_YAW             0
-#define AD_GYRO_ROLL            1
-#define AD_GYRO_PITCH           2
-#define AD_AIRPRESSURE          3
-#define AD_UBAT                 4
-#define AD_ACC_Z                5
-#define AD_ACC_ROLL             6
-#define AD_ACC_PITCH            7
+#define AD_GYRO_YAW       0
+#define AD_GYRO_ROLL      1
+#define AD_GYRO_PITCH     2
+#define AD_AIRPRESSURE    3
+#define AD_UBAT           4
+#define AD_ACC_Z          5
+#define AD_ACC_ROLL       6
+#define AD_ACC_PITCH      7
 /*
  * Table of AD converter inputs for each state.
 ,14 → 165,14
   AD_GYRO_ROLL,
   AD_GYRO_YAW,
+  AD_ACC_PITCH,
   AD_ACC_ROLL,
-  AD_ACC_PITCH,
+  // AD_AIRPRESSURE,
   AD_GYRO_PITCH,
   AD_GYRO_ROLL,
+  AD_ACC_Z,       // at 7, measure Z acc.
-  AD_ACC_Z,       // at 7, finish Z acc.
   AD_GYRO_PITCH,
   AD_GYRO_ROLL,
   AD_GYRO_YAW,    // at 10, finish yaw gyro
 ,11 → 179,11
   AD_ACC_PITCH,   // at 11, finish pitch axis acc.
   AD_ACC_ROLL,    // at 12, finish roll axis acc.
+  AD_AIRPRESSURE, // at 13, finish air pressure.
-  AD_GYRO_PITCH,  // at 13, finish pitch gyro
-  AD_GYRO_ROLL,   // at 14, finish roll gyro
-  AD_UBAT         // at 15, measure battery.
+  AD_GYRO_PITCH,  // at 14, finish pitch gyro
+  AD_GYRO_ROLL,   // at 15, finish roll gyro
+  AD_UBAT         // at 16, measure battery.
 };
 // Feature removed. Could be reintroduced later - but should work for all gyro types then.
 ,6 → 228,19
   }
 }
+#define ADCENTER (1023/2)
+#define HALFRANGE 400
+uint8_t stepsize = 53;
+uint16_t getAbsPressure(int advalue) {
+  return (uint16_t)OCR0A * (uint16_t)stepsize + advalue;
+}
+uint16_t filterAirPressure(uint16_t rawpressure) {
+  return rawpressure;
+}
 /*****************************************************/
 /*     Interrupt Service Routine for ADC             */
 /*****************************************************/
 ,7 → 253,8
   static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0};
   uint8_t i;
+  int16_t step = OCR0A;
   // for various filters...
   static int16_t pitchGyroFilter, rollGyroFilter, tempOffsetGyro;
 ,7 → 303,25
     measureNoise(rollAxisAcc, &rollAccNoisePeak, 1);
     break;
-  case 13: // pitch gyro
+  case 13: // air pressure
+    if (sensorInputs[AD_AIRPRESSURE] < ADCENTER-HALFRANGE) {
+      // value is too low, so decrease voltage on the op amp minus input, making the value higher.
+      step -= ((HALFRANGE-sensorInputs[AD_AIRPRESSURE]) / stepsize + 1);
+      if (step<0) step = 0;
+      OCR0A = step;
+      // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off)
+    } else if (sensorInputs[AD_AIRPRESSURE] > ADCENTER+HALFRANGE) {
+      // value is too high, so increase voltage on the op amp minus input, making the value lower.
+      step += ((sensorInputs[AD_AIRPRESSURE] - HALFRANGE)/stepsize + 1);
+      if (step>254) step = 254;
+      OCR0A = step;
+      // wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off)
+    } else {
+      filteredAirPressure = filterAirPressure(getAbsPressure(sensorInputs[AD_AIRPRESSURE]));
+    }
+    break;
+  case 14: // pitch gyro
     rawPitchGyroSum = sensorInputs[AD_GYRO_PITCH];
     // Filter already before offsetting. The offsetting resolution improvement obtained by divding by
     // GYROS_FIRSTORDERFILTER _after_ offsetting is too small to be worth pursuing.
 ,7 → 341,7
     measureNoise(hiResPitchGyro, &pitchGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING);
     break;
-  case 14: // Roll gyro. Works the same as pitch.
+  case 15: // Roll gyro. Works the same as pitch.
     rawRollGyroSum = sensorInputs[AD_GYRO_ROLL];
     rollGyroFilter = (rollGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawRollGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER;
 #ifdef GYRO_REVERSE_ROLL
 ,7 → 355,7
     measureNoise(hiResRollGyro, &rollGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING);
     break;
-  case 15:
+  case 16:
     // battery
     UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
     analogDataReady = 1; // mark

 /branches/dongfang_FC_rewrite/analog.h
 ,8 → 2,8
 #define _ANALOG_H
 #include <inttypes.h>
-#include "invenSense.h"
-// #include "ENC-03_FC1.3.h"
+//#include "invenSense.h"
+#include "ENC-03_FC1.3.h"
 /*

 /branches/dongfang_FC_rewrite/attitude.c
 ,11 → 288,11
   }
   DebugOut.Analog[3] = pitchRate;
-  DebugOut.Analog[3 + 3] = ACPitchRate;
+  // DebugOut.Analog[3 + 3] = ACPitchRate;
   DebugOut.Analog[4] = rollRate;
-  DebugOut.Analog[4 + 3] = ACRollRate;
+  // DebugOut.Analog[4 + 3] = ACRollRate;
   DebugOut.Analog[5] = yawRate;
-  DebugOut.Analog[5 + 3] = ACYawRate;
+  // DebugOut.Analog[5 + 3] = ACYawRate;
   /*
   DebugOut.Analog[9] = int_cos(pitchAngle);

 /branches/dongfang_FC_rewrite/controlMixer.c
 ,8 → 148,12
   controlPitch     = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH];
   controlRoll      = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL];
-  DebugOut.Analog[14] = controlThrottle  = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE];
-  DebugOut.Analog[15] = controlYaw       = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];
+  controlThrottle  = RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE];
+  controlYaw       = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW];
+  DebugOut.Analog[6] = controlPitch;
+  DebugOut.Analog[7] = controlRoll;
+  DebugOut.Analog[8] = controlYaw;
   if (RC_getSignalQuality() >= SIGNAL_GOOD) {
     controlMixer_updateVariables();

 /branches/dongfang_FC_rewrite/flight.c
 ,8 → 558,8
     DebugOut.Analog[9]  = setPointYaw;
     DebugOut.Analog[10] = yawIFactor;
     DebugOut.Analog[11] = gyroIFactor;
-    DebugOut.Analog[12] = RC_getVariable(0);
-    DebugOut.Analog[13] = dynamicParams.UserParams[0];
+    // DebugOut.Analog[12] = RC_getVariable(0);
+    // DebugOut.Analog[13] = dynamicParams.UserParams[0];
     DebugOut.Analog[14] = RC_getVariable(4);
     DebugOut.Analog[15] = dynamicParams.UserParams[4];
     /* DebugOut.Analog[11] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; */

 /branches/dongfang_FC_rewrite/main.c
 ,12 → 129,12
   // Parameter Set handling
   ParamSet_Init();
-  // wait for a short time (otherwise the RC channel check won't work below)
+  // Wait for a short time (otherwise the RC channel check won't work below)
   // timer = SetDelay(500);
   // while(!CheckDelay(timer));
   // Instead, while away the time by flashing the 2 outputs:
   // First J16, then J17. Makes it easier to see which is which.
   timer = SetDelay(200);
   J16_ON;
   GRN_OFF;
 ,6 → 153,7
   J17_OFF;
   twi_diagnostics();
   printf("\n\r===================================");
   /*
 ,7 → 196,7
   // Init flight parameters
   flight_setNeutral();
-  RED_OFF;
+  // RED_OFF;
   beep(2000);
 ,8 → 261,7
         RED_OFF;
       }
-      // allow Serial Data Transmit if motors must not updated or motors are not running
-      // Why only when that???
+      // Allow Serial Data Transmit if motors must not updated or motors are not running
       if( !runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
         USART0_TransmitTxData();
       }

 /branches/dongfang_FC_rewrite/makefile
 ,9 → 22,9
 RC = DSL
 #RC = SPECTRUM
-#GYRO=ENC-03_FC1.3
+GYRO=ENC-03_FC1.3
 #GYRO=ADXRS610_FC2.0
-GYRO=invenSense
+#GYRO=invenSense
 #-------------------------------------------------------------------
 # get SVN revision

 /branches/dongfang_FC_rewrite/rc.c
 ,6 → 56,10
 #include "controlMixer.h"
 #include "configuration.h"
+// for DebugOut only.
+#include "uart0.h"
 // The channel array is 1-based. The 0th entry is not used.
 volatile int16_t PPM_in[MAX_CHANNELS];
 volatile int16_t PPM_diff[MAX_CHANNELS];
 ,7 → 131,7
                                  ____   ______   _____   ________                ______    sync gap      ____
                                  |    | |      | |     | |        |              |      |                |
                                  |    | |      | |     | |        |              |      |                |
-                                 ___|    |_|      |_|     |_|        |_.............|      |________________|
+                              ___|    |_|      |_|     |_|        |_.............|      |________________|
                                  <-----><-------><------><-------->              <------>                <---
                                  t0       t1      t2       t4                     tn                     t0
 ,8 → 216,12
   if(RC_Quality) {
     RC_Quality--;
     if (NewPpmData-- == 0) {
+      DebugOut.Analog[12] = stickOffsetPitch;
+      DebugOut.Analog[13] = stickOffsetRoll;
       RC_PRTY[CONTROL_PITCH] = (RCChannel(CH_PITCH) - stickOffsetPitch) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD;
-      RC_PRTY[CONTROL_ROLL] = (RCChannel(CH_ROLL) - stickOffsetRoll)   * staticParams.StickP + RCDiff(CH_ROLL)  * staticParams.StickD;
+      RC_PRTY[CONTROL_ROLL] = (RCChannel(CH_ROLL) - stickOffsetRoll)    * staticParams.StickP + RCDiff(CH_ROLL)  * staticParams.StickD;
       RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[6] + 120;
       if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative.
       tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW);
 ,8 → 284,8
     // In HH, it s OK to trim the R/C. The effect should not be conteracted here.
     stickOffsetPitch = stickOffsetRoll = 0;
   } else {
-    stickOffsetPitch += RCChannel(CH_PITCH);
-    stickOffsetRoll += RCChannel(CH_ROLL);
+    stickOffsetPitch = RCChannel(CH_PITCH);
+    stickOffsetRoll = RCChannel(CH_ROLL);
   }
 }

 /branches/dongfang_FC_rewrite/timer0.c
 ,8 → 139,7
   if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz)
     cnt = 9;
-    cnt_1ms++;
-    cnt_1ms %= 2;
+    cnt_1ms^=1;
     if(!cnt_1ms) runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
     CountMilliseconds++; // increment millisecond counter
   }

 /branches/dongfang_FC_rewrite/uart0.c
 ,14 → 128,14
     "GyroPitch       ",
     "GyroRoll        ",
     "GyroYaw         ", //5
-    "ACGyroPitch     ",
-    "ACGyroRoll      ",
-    "ACGyroYaw       ",
+    "ControlPitch    ",
+    "ControlRoll     ",
+    "ControlYaw      ",
     "SetPointYaw     ",
     "YawRateIFactor  ", //10
     "Gyro I Factor   ",
-    "R/C Var 0       ",
-    "User Param 0    ",
+    "StickOffsetPitch",
+    "StickOffsetRoll ",
     "R/C Var 4       ",
     "User Param 4    ", //15
     "RCQuality       ",

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Ignore whitespace Rev 1633 → Rev 1634