WebSVN - FlightCtrl - Path Comparison - /branches/KalmanFilter MikeW/ Rev 972 and /branches/KalmanFilter MikeW/ Rev 973

Ignore whitespace Rev 972 → Rev 973

 /branches/KalmanFilter MikeW/Flight-Ctrl_MEGA644p_V0_66c.hex
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 :00000001FF

 /branches/KalmanFilter MikeW/FlightControl.c
 ,11 → 38,10
 extern void GPSupdate(void);
-int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0;
+f32_t AdNeutralNick = 0.0F, AdNeutralRoll = 0.0F, AdNeutralGier = 0.0F;
 int NeutralAccX = 0, NeutralAccY = 0, NeutralAccZ = 0;
-int AverageRoll_X = 0, AverageRoll_Y = 0, AverageRoll_Z = 0;
+int AverageRoll = 0, AverageNick = 0, AverageGier = 0;
 int AveragerACC_X = 0, AveragerACC_Y = 0, AveragerACC_Z = 0;
-int Roll_X_Off = 0, Roll_Y_Off = 0, Roll_Z_Off = 0;
 f32_t Roll_X_Offset = 0.F, Roll_Y_Offset = 0.F, Roll_Z_Offset = 0.F;
 f32_t ACC_X_Offset = 0.F, ACC_Y_Offset = 0.F,  ACC_Z_Offset = 0.F;
 ,9 → 88,9
   Delay_ms_Mess(300);
   ANALOG_OFF;
-  AdNeutralNick = AdWertNick_Raw;
-  AdNeutralRoll = AdWertRoll_Raw;
-  AdNeutralGier = AdWertGier_Raw;
+  AdNeutralNick = (f32_t) AdWertNick_Raw;
+  AdNeutralRoll = (f32_t) AdWertRoll_Raw;
+  AdNeutralGier = (f32_t) AdWertGier_Raw;
   NeutralAccY = AdWertAccRoll_Raw;
   NeutralAccX = AdWertAccNick_Raw;
   NeutralAccZ = AdWertAccHoch_Raw;
 ,12 → 109,12
   AccumulatedACC_Z = 0;
   AccumulatedACC_Z_cnt = 0;
-  AccumulatedRoll_X = 0;
-  AccumulatedRoll_X_cnt = 0;
-  AccumulatedRoll_Y = 0;
-  AccumulatedRoll_Y_cnt = 0;
-  AccumulatedRoll_Z = 0;
-  AccumulatedRoll_Z_cnt = 0;
+  AccumulatedRoll = 0;
+  AccumulatedRoll_cnt = 0;
+  AccumulatedNick = 0;
+  AccumulatedNick_cnt = 0;
+  AccumulatedGier = 0;
+  AccumulatedGier_cnt = 0;
   AveragerACC_X = 0;
   AveragerACC_Y = 0;
 ,9 → 151,9
 void GetMeasurements(void)
 {
   ANALOG_OFF;
-  AverageRoll_X = AccumulatedRoll_X / AccumulatedRoll_X_cnt;
-  AverageRoll_Y = AccumulatedRoll_Y / AccumulatedRoll_Y_cnt;
-  AverageRoll_Z = AccumulatedRoll_Z / AccumulatedRoll_Z_cnt;
+  AverageRoll = AccumulatedRoll / AccumulatedRoll_cnt;
+  AverageNick = AccumulatedNick / AccumulatedNick_cnt;
+  AverageGier = AccumulatedGier / AccumulatedGier_cnt;
   /* Get Pressure Differenz */
   CurrentAltitude = InitialAltitude - AccumulatedAirPressure / AccumulatedAirPressure_cnt;
 ,32 → 170,31
   //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10))
   {
-    Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X)));
-    Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y)));
+    AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw;
+    AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw;
     if (abs(StickGier) < 15 || MotorenEin == 0)
     {
-      Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z)));
+       AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw;
     }
   }
 #if 1
-  DebugOut.Analog[7] = AdWertNick_Raw;
-  DebugOut.Analog[8] = AdWertRoll_Raw;
-  DebugOut.Analog[9] = AdWertGier_Raw;
+  DebugOut.Analog[6] = AdWertNick_Raw;
+  DebugOut.Analog[7] = AdWertRoll_Raw;
+  DebugOut.Analog[8] = AdWertGier_Raw;
+  DebugOut.Analog[9] = AdNeutralNick;
+  DebugOut.Analog[10] = AdNeutralRoll;
+  DebugOut.Analog[11] = AdNeutralGier;
 #endif
-  AverageRoll_X -= Roll_X_Offset;
-  AverageRoll_Y -= Roll_Y_Offset;
-  AverageRoll_Z -= Roll_Z_Offset;
+  AccumulatedRoll = 0;
+  AccumulatedRoll_cnt = 0;
+  AccumulatedNick = 0;
+  AccumulatedNick_cnt = 0;
+  AccumulatedGier = 0;
+  AccumulatedGier_cnt = 0;
-  AccumulatedRoll_X = 0;
-  AccumulatedRoll_X_cnt = 0;
-  AccumulatedRoll_Y = 0;
-  AccumulatedRoll_Y_cnt = 0;
-  AccumulatedRoll_Z = 0;
-  AccumulatedRoll_Z_cnt = 0;
 #if 0
   ACC_X_Offset = 0.9999F * ACC_X_Offset + 0.0001F * ((float) AccumulatedACC_X / (float) AccumulatedACC_X_cnt);
   ACC_Y_Offset = 0.9999F * ACC_Y_Offset + 0.0001F * ((float) AccumulatedACC_Y / (float) AccumulatedACC_Y_cnt);
 ,33 → 213,6
   AccumulatedACC_Z_cnt = 0;
   ANALOG_ON;
-  if (Roll_X_Off > 60)
-  {
-    Roll_X_Off = 60;
-  }
-  if (Roll_X_Off < -60)
-  {
-    Roll_X_Off = -60;
-  }
-  if (Roll_Y_Off > 60)
-  {
-    Roll_Y_Off = 60;
-  }
-  if (Roll_Y_Off < -60)
-  {
-    Roll_Y_Off = -60;
-  }
-  if (Roll_Z_Off > 60)
-  {
-    Roll_Z_Off = 60;
-  }
-  if (Roll_Z_Off < -60)
-  {
-    Roll_Z_Off = -60;
-  }
 }
 /* ****************************************************************************
 ,7 → 489,7
     sollGier = status.iPsi10 + 4 * StickGier;
   }
   DiffGier = (sollGier - status.iPsi10);
-  GierMischanteil = (int) (-4 *  DiffGier - 4* (AdWertGier - AdNeutralGier - Roll_Z_Off)) / 10;
+  GierMischanteil = (int) (-4 *  DiffGier - 4* (AdWertGier_Raw - (int) AdNeutralGier)) / 10;
 #define MUL_G  0.8
   if(GierMischanteil > MUL_G * GasMischanteil)
 ,7 → 549,7
     SummeRoll = -10000;
   }
-  pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10) ; // + (int)(SummeNick / 2000);
+  pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick_Raw - (int) AdNeutralNick)) / 10) ; // + (int)(SummeNick / 2000);
   if(pd_ergebnis >  (GasMischanteil + abs(GierMischanteil)))
   {
     pd_ergebnis =  (GasMischanteil + abs(GierMischanteil));
 ,7 → 591,7
   }
   Motor_Hinten = motorwert;
-  pd_ergebnis =  ((scale_p * DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10) ; //+ (int)(SummeRoll / 2000);
+  pd_ergebnis =  ((scale_p * DiffRoll + scale_d * (AdWertRoll_Raw - (int) AdNeutralRoll)) / 10) ; //+ (int)(SummeRoll / 2000);
   if(pd_ergebnis >  (GasMischanteil + abs(GierMischanteil)))
   {
     pd_ergebnis =  (GasMischanteil + abs(GierMischanteil));

 /branches/KalmanFilter MikeW/FlightControl.h
 ,11 → 23,11
 //#define X_FORMATION
 extern  int MesswertNick,MesswertRoll,MesswertGier;
-extern  int AdNeutralNick,AdNeutralRoll,AdNeutralGier;
+extern  float AdNeutralNick, AdNeutralRoll, AdNeutralGier;
 extern  int NeutralAccX, NeutralAccY, NeutralAccZ;
 extern  int GierMischanteil,GasMischanteil;
-extern int AverageRoll_X, AverageRoll_Y, AverageRoll_Z;
+extern int AverageRoll, AverageNick, AverageGier;
 extern int AveragerACC_X, AveragerACC_Y, AveragerACC_Z;
 extern int  DiffNick,DiffRoll;

 /branches/KalmanFilter MikeW/Kopter_Tool_V1_48/Legend.txt
 ,12 → 4,12
 Accumulated Nick
 Accumulated Roll
 Accumulated Gier
-na
 AdWertNick
 AdWertRoll
 AdWertGier
-na
-na
+NeutralNick
+NeutralRoll
+NeutralGier
 RCQuality
 na
 CycleTime

 /branches/KalmanFilter MikeW/analog.c
 ,15 → 17,14
 int UBat = 100; /* Initial Battery Guess */
-int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
+int AdWertNick_Raw = 0, AdWertRoll_Raw = 0, AdWertGier_Raw = 0;
 int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
-int AdWertNick_Raw = 0, AdWertRoll_Raw = 0, AdWertGier_Raw = 0;
 int AdWertAccRoll_Raw = 0,AdWertAccNick_Raw = 0,AdWertAccHoch_Raw = 0;
 int AccumulatedACC_X = 0, AccumulatedACC_Y = 0, AccumulatedACC_Z = 0, AccumulatedAirPressure = 0;
 int AccumulatedACC_X_cnt = 0, AccumulatedACC_Y_cnt = 0, AccumulatedACC_Z_cnt = 0, AccumulatedAirPressure_cnt = 0;
-int AccumulatedRoll_X = 0, AccumulatedRoll_Y = 0, AccumulatedRoll_Z = 0;
-int AccumulatedRoll_X_cnt = 0, AccumulatedRoll_Y_cnt = 0, AccumulatedRoll_Z_cnt = 0;
+int AccumulatedRoll = 0, AccumulatedNick = 0, AccumulatedGier = 0;
+int AccumulatedRoll_cnt = 0, AccumulatedNick_cnt = 0, AccumulatedGier_cnt = 0;
 unsigned int AdWertAirPressure_Raw = 1023;
 ,24 → 91,21
   switch(state++)
   {
   case 0:
-    AdWertGier = ADC;
     AdWertGier_Raw = ADC;
-    AccumulatedRoll_Z += (ADC - AdNeutralGier);
-    AccumulatedRoll_Z_cnt++;
+    AccumulatedGier += (ADC - AdNeutralGier);
+    AccumulatedGier_cnt++;
     kanal = 1;
     break;
   case 1:
-    AdWertRoll = ADC;
     AdWertRoll_Raw = ADC;
-    AccumulatedRoll_X += (ADC - AdNeutralRoll);
-    AccumulatedRoll_X_cnt++;
+    AccumulatedRoll += (ADC - AdNeutralRoll);
+    AccumulatedRoll_cnt++;
     kanal = 2;
     break;
   case 2:
-    AdWertNick = ADC;
     AdWertNick_Raw = ADC;
-    AccumulatedRoll_Y += (ADC - AdNeutralNick);
-    AccumulatedRoll_Y_cnt++;
+    AccumulatedNick += (ADC - AdNeutralNick);
+    AccumulatedNick_cnt++;
     kanal = 4;
     break;
   case 3:

 /branches/KalmanFilter MikeW/analog.h
 ,14 → 13,13
 */
 extern int UBat;
-extern int  AdWertNick, AdWertRoll, AdWertGier;
+extern int  AdWertNick_Raw, AdWertRoll_Raw, AdWertGier_Raw;
 extern int  AdWertAccRoll,AdWertAccNick,AdWertAccHoch;
-extern int  AdWertNick_Raw, AdWertRoll_Raw, AdWertGier_Raw;
 extern int  AdWertAccHoch_Raw, AdWertAccRoll_Raw,AdWertAccNick_Raw, AdWertAccHoch_Raw;
 extern int AccumulatedACC_X, AccumulatedACC_Y, AccumulatedACC_Z;
 extern int AccumulatedACC_X_cnt, AccumulatedACC_Y_cnt, AccumulatedACC_Z_cnt;
-extern int AccumulatedRoll_X, AccumulatedRoll_Y, AccumulatedRoll_Z, AccumulatedAirPressure;
-extern int AccumulatedRoll_X_cnt, AccumulatedRoll_Y_cnt, AccumulatedRoll_Z_cnt, AccumulatedAirPressure_cnt;
+extern int AccumulatedRoll, AccumulatedNick, AccumulatedGier, AccumulatedAirPressure;
+extern int AccumulatedRoll_cnt, AccumulatedNick_cnt, AccumulatedGier_cnt, AccumulatedAirPressure_cnt;
 extern unsigned int AdWertAirPressure_Raw;
 void ADC_Init(void);

 /branches/KalmanFilter MikeW/kafi.c
 ,9 → 621,9
   matSetFull(matB, _Psi, _q, sinPhi * secTheta );
   matSetFull(matB, _Psi, _r, cosPhi * secTheta );
-  ADC_p = -(float) AverageRoll_X * 0.00001F * fCycleTime;
-  ADC_q = -(float) AverageRoll_Y * 0.00001F * fCycleTime;
-  ADC_r = -(float) AverageRoll_Z * 0.00001F * fCycleTime;
+  ADC_p = -(float) AverageRoll * 0.00001F * fCycleTime;
+  ADC_q = -(float) AverageNick * 0.00001F * fCycleTime;
+  ADC_r = -(float) AverageGier * 0.00001F * fCycleTime;
   fSumGier += ADC_r * 180.F / 3.14F;
   fSumNick += ADC_q * 180.F / 3.14F;

 /branches/KalmanFilter MikeW/main.c
 ,9 → 194,9
 #if 0
   /* Yaw or pitch are greater than  60 Deg abs */
   if (((abs(status.iTheta10) > 600) || (abs(status.iPhi10) > 600)) &&
-            ((abs(AverageRoll_X) > Threshhold) ||
-            (abs(AverageRoll_Y) > Threshhold) ||
-            (abs(AverageRoll_Z) > Threshhold) ))
+            ((abs(AverageRoll) > Threshhold) ||
+            (abs(AverageNick) > Threshhold) ||
+            (abs(AverageGier) > Threshhold) ))
   {
     MotorenEin = 0;
     Delay_ms(1000);

/branches/KalmanFilter MikeW/version.txt
5,3 → 5,5
- added Kafi Library
V0.69 21.09.2008 M.Walter
- added define to dis-/enable X_FORMATION
V0.70 22.09.2008 M.Walter
- updated sensor drift compensation

Subversion Repositories FlightCtrl

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Ignore whitespace Rev 972 → Rev 973