7,7 → 7,6 |
#include "attitude.h" |
#include "sensors.h" |
#include "printf_P.h" |
#include "mk3mag.h" |
|
// for Delay functions |
#include "timer0.h" |
32,8 → 31,8 |
* the offsets with the DAC. |
*/ |
volatile uint16_t sensorInputs[8]; |
int16_t acc[3]; |
int16_t filteredAcc[3] = { 0,0,0 }; |
//int16_t acc[3]; |
//int16_t filteredAcc[3] = { 0,0,0 }; |
|
/* |
* These 4 exported variables are zero-offset. The "PID" ones are used |
40,17 → 39,12 |
* in the attitude control as rotation rates. The "ATT" ones are for |
* integration to angles. |
*/ |
int16_t gyro_PID[2]; |
int16_t gyro_ATT[2]; |
int16_t gyroD[2]; |
int16_t gyro_PID[3]; |
int16_t gyro_ATT[3]; |
int16_t gyroD[3]; |
int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
uint8_t gyroDWindowIdx = 0; |
int16_t yawGyro; |
int16_t magneticHeading; |
|
int32_t groundPressure; |
int16_t dHeight; |
|
uint32_t gyroActivity; |
|
/* |
90,14 → 84,14 |
* 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
*/ |
|
void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
void rotate(int16_t* result, uint8_t quadrant, uint8_t reversePR, uint8_t reverseYaw) { |
static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
// Pitch to Pitch part |
int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
int8_t xx = reversePR ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
// Roll to Pitch part |
int8_t xy = rotationTab[(quadrant+2)%8]; |
// Pitch to Roll part |
int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
int8_t yx = reversePR ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
// Roll to Roll part |
int8_t yy = rotationTab[quadrant]; |
|
113,27 → 107,19 |
result[0] = (result[0]*11) >> 4; |
result[1] = (result[1]*11) >> 4; |
} |
|
if (reverseYaw) |
result[3] =-result[3]; |
} |
|
/* |
* Air pressure |
* Airspeed |
*/ |
volatile uint8_t rangewidth = 105; |
|
// Direct from sensor, irrespective of range. |
// volatile uint16_t rawAirPressure; |
|
// Value of 2 samples, with range. |
uint16_t simpleAirPressure; |
|
// Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
int32_t filteredAirPressure; |
// int32_t filteredAirPressure; |
|
#define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32 |
//int32_t lastFilteredAirPressure; |
int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH]; |
uint8_t dWindowPtr = 0; |
|
#define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
int32_t windowedAirPressure; |
145,6 → 131,7 |
// The number of samples summed into airPressureSum so far. |
uint8_t pressureMeasurementCount; |
|
|
/* |
* Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
* That is divided by 3 below, for a final 10.34 per volt. |
161,7 → 148,6 |
* Experiment: Measuring vibration-induced sensor noise. |
*/ |
uint16_t gyroNoisePeak[3]; |
uint16_t accNoisePeak[3]; |
|
volatile uint8_t adState; |
volatile uint8_t adChannel; |
189,19 → 175,27 |
*/ |
|
const uint8_t channelsForStates[] PROGMEM = { |
AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
AD_GYRO_PITCH, |
AD_GYRO_ROLL, |
AD_GYRO_YAW, |
|
AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
AD_AIRPRESSURE, |
|
AD_GYRO_PITCH, |
AD_GYRO_ROLL, |
AD_GYRO_YAW, |
|
AD_UBAT, |
|
AD_GYRO_PITCH, |
AD_GYRO_ROLL, |
AD_GYRO_YAW, |
|
AD_ACC_PITCH, // at 12, finish pitch axis acc. |
AD_ACC_ROLL, // at 13, finish roll axis acc. |
AD_AIRPRESSURE, // at 14, finish air pressure. |
AD_AIRPRESSURE, |
|
AD_GYRO_PITCH, // at 15, finish pitch gyro |
AD_GYRO_ROLL, // at 16, finish roll gyro |
AD_UBAT // at 17, measure battery. |
AD_GYRO_PITCH, |
AD_GYRO_ROLL, |
AD_GYRO_YAW |
}; |
|
// Feature removed. Could be reintroduced later - but should work for all gyro types then. |
244,9 → 238,11 |
return sensorInputs[AD_GYRO_PITCH-axis]; |
} |
|
/* |
uint16_t rawAccValue(uint8_t axis) { |
return sensorInputs[AD_ACC_PITCH-axis]; |
} |
*/ |
|
void measureNoise(const int16_t sensor, |
volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
266,9 → 262,7 |
* Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
*/ |
uint16_t getSimplePressure(int advalue) { |
uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
return result; |
return advalue; |
} |
|
void startAnalogConversionCycle(void) { |
305,6 → 299,7 |
} |
} |
|
/* |
void measureGyroActivity(int16_t newValue) { |
gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
} |
318,20 → 313,14 |
gyroActivity >>= GADAMPING; |
} |
} |
/* |
void dampenGyroActivity(void) { |
if (gyroActivity >= 2000) { |
gyroActivity -= 2000; |
} |
} |
*/ |
|
void analog_updateGyros(void) { |
// for various filters... |
int16_t tempOffsetGyro[2], tempGyro; |
int16_t tempOffsetGyro[3], tempGyro; |
|
debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
for (uint8_t axis=0; axis<2; axis++) { |
for (uint8_t axis=0; axis<3; axis++) { |
tempGyro = rawGyroValue(axis); |
/* |
* Process the gyro data for the PID controller. |
340,23 → 329,23 |
// gyro with a wider range, and helps counter saturation at full control. |
|
if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
if (tempGyro < SENSOR_MIN_PITCHROLL) { |
if (tempGyro < SENSOR_MIN) { |
debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
} else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
} else if (tempGyro > SENSOR_MAX) { |
debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
} |
} |
|
// 2) Apply sign and offset, scale before filtering. |
tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
} |
|
// 2.1: Transform axes. |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
|
for (uint8_t axis=0; axis<2; axis++) { |
for (uint8_t axis=0; axis<3; axis++) { |
// 3) Filter. |
tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
|
374,42 → 363,23 |
gyro_PID[axis] = tempOffsetGyro[axis]; |
|
// Prepare tempOffsetGyro for next calculation below... |
tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
} |
|
/* |
* Now process the data for attitude angles. |
*/ |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW); |
|
dampenGyroActivity(); |
gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
// dampenGyroActivity(); |
gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
|
/* |
measureGyroActivity(tempOffsetGyro[PITCH]); |
measureGyroActivity(tempOffsetGyro[ROLL]); |
*/ |
measureGyroActivity(gyroD[PITCH]); |
measureGyroActivity(gyroD[ROLL]); |
|
// We measure activity of yaw by plain gyro value and not d/dt, because: |
// - There is no drift correction anyway |
// - Effect of steady circular flight would vanish (it should have effect). |
// int16_t diff = yawGyro; |
// Yaw gyro. |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
else |
yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
|
// diff -= yawGyro; |
// gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
// gyroD[YAW] += diff; |
// gyroDWindow[YAW][gyroDWindowIdx] = diff; |
|
// gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
/* |
measureGyroActivity(gyroD[PITCH]); |
measureGyroActivity(gyroD[ROLL]); |
measureGyroActivity(yawGyro); |
*/ |
|
if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
gyroDWindowIdx = 0; |
416,124 → 386,9 |
} |
} |
|
void analog_updateAccelerometers(void) { |
// Pitch and roll axis accelerations. |
for (uint8_t axis=0; axis<2; axis++) { |
acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
} |
|
rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
for(uint8_t axis=0; axis<3; axis++) { |
filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
measureNoise(acc[axis], &accNoisePeak[axis], 1); |
} |
|
// Z acc. |
if (IMUConfig.imuReversedFlags & 8) |
acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
else |
acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
|
// debugOut.analog[29] = acc[Z]; |
} |
|
void analog_updateAirPressure(void) { |
static uint16_t pressureAutorangingWait = 25; |
uint16_t rawAirPressure; |
int16_t newrange; |
// air pressure |
if (pressureAutorangingWait) { |
//A range switch was done recently. Wait for steadying. |
pressureAutorangingWait--; |
} else { |
rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
if (rawAirPressure < MIN_RAWPRESSURE) { |
// value is too low, so decrease voltage on the op amp minus input, making the value higher. |
newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
if (newrange > MIN_RANGES_EXTRAPOLATION) { |
pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
OCR0A = newrange; |
} else { |
if (OCR0A) { |
OCR0A--; |
pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
} |
} |
} else if (rawAirPressure > MAX_RAWPRESSURE) { |
// value is too high, so increase voltage on the op amp minus input, making the value lower. |
// If near the end, make a limited increase |
newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
if (newrange < MAX_RANGES_EXTRAPOLATION) { |
pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
OCR0A = newrange; |
} else { |
if (OCR0A < 254) { |
OCR0A++; |
pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
} |
} |
} |
|
// Even if the sample is off-range, use it. |
simpleAirPressure = getSimplePressure(rawAirPressure); |
debugOut.analog[6] = rawAirPressure; |
debugOut.analog[7] = simpleAirPressure; |
|
if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
// Danger: pressure near lower end of range. If the measurement saturates, the |
// copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
+ (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
* rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
} else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
// Danger: pressure near upper end of range. If the measurement saturates, the |
// copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
debugOut.digital[1] |= DEBUG_SENSORLIMIT; |
airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
+ (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
* rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
} else { |
// normal case. |
// If AIRPRESSURE_OVERSAMPLING is an odd number we only want to add half the double sample. |
// The 2 cases above (end of range) are ignored for this. |
debugOut.digital[1] &= ~DEBUG_SENSORLIMIT; |
airPressureSum += simpleAirPressure; |
} |
|
// 2 samples were added. |
pressureMeasurementCount += 2; |
// Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
|
// The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
airPressureSum += simpleAirPressure >> 2; |
|
uint32_t lastFilteredAirPressure = filteredAirPressure; |
|
if (!staticParams.airpressureWindowLength) { |
filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
+ airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
} else { |
// use windowed. |
windowedAirPressure += simpleAirPressure; |
windowedAirPressure -= airPressureWindow[windowPtr]; |
airPressureWindow[windowPtr++] = simpleAirPressure; |
if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
} |
|
// positive diff of pressure |
int16_t diff = filteredAirPressure - lastFilteredAirPressure; |
// is a negative diff of height. |
dHeight -= diff; |
// remove old sample (fifo) from window. |
dHeight += dAirPressureWindow[dWindowPtr]; |
dAirPressureWindow[dWindowPtr++] = diff; |
if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
pressureMeasurementCount = airPressureSum = 0; |
} |
} |
uint16_t rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
simpleAirPressure = rawAirPressure; |
} |
|
void analog_updateBatteryVoltage(void) { |
544,12 → 399,13 |
|
void analog_update(void) { |
analog_updateGyros(); |
analog_updateAccelerometers(); |
// analog_updateAccelerometers(); |
analog_updateAirPressure(); |
analog_updateBatteryVoltage(); |
#ifdef USE_MK3MAG |
magneticHeading = volatileMagneticHeading; |
#endif |
|
} |
|
void analog_setNeutral() { |
557,20 → 413,21 |
|
if (gyroOffset_readFromEEProm()) { |
printf("gyro offsets invalid%s",recal); |
gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
} |
|
|
/* |
if (accOffset_readFromEEProm()) { |
printf("acc. meter offsets invalid%s",recal); |
accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
} |
*/ |
|
// Noise is relative to offset. So, reset noise measurements when changing offsets. |
for (uint8_t i=PITCH; i<=ROLL; i++) { |
for (uint8_t i=PITCH; i<=YAW; i++) { |
gyroNoisePeak[i] = 0; |
accNoisePeak[i] = 0; |
gyroD[i] = 0; |
for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
gyroDWindow[i][j] = 0; |
600,8 → 457,8 |
for (axis = PITCH; axis <= YAW; axis++) { |
gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
|
int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
int16_t min = (512-200) * GYRO_OVERSAMPLING; |
int16_t max = (512+200) * GYRO_OVERSAMPLING; |
if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
} |
609,68 → 466,3 |
gyroOffset_writeToEEProm(); |
startAnalogConversionCycle(); |
} |
|
/* |
* Find acc. offsets for a neutral reading, and write them to EEPROM. |
* Does not (!} update the local variables. This must be done with a |
* call to analog_calibrate() - this always (?) is done by the caller |
* anyway. There would be nothing wrong with updating the variables |
* directly from here, though. |
*/ |
void analog_calibrateAcc(void) { |
#define ACC_OFFSET_CYCLES 32 |
uint8_t i, axis; |
int32_t offsets[3] = { 0, 0, 0 }; |
|
for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
delay_ms_with_adc_measurement(10, 1); |
for (axis = PITCH; axis <= YAW; axis++) { |
offsets[axis] += rawAccValue(axis); |
} |
} |
|
for (axis = PITCH; axis <= YAW; axis++) { |
accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
int16_t min,max; |
if (axis==Z) { |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
// TODO: This assumes a sensitivity of +/- 2g. |
min = (256-200) * ACC_OVERSAMPLING_Z; |
max = (256+200) * ACC_OVERSAMPLING_Z; |
} else { |
// TODO: This assumes a sensitivity of +/- 2g. |
min = (768-200) * ACC_OVERSAMPLING_Z; |
max = (768+200) * ACC_OVERSAMPLING_Z; |
} |
} else { |
min = (512-200) * ACC_OVERSAMPLING_XY; |
max = (512+200) * ACC_OVERSAMPLING_XY; |
} |
if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
} |
} |
|
accOffset_writeToEEProm(); |
startAnalogConversionCycle(); |
} |
|
void analog_setGround() { |
groundPressure = filteredAirPressure; |
} |
|
int32_t analog_getHeight(void) { |
return groundPressure - filteredAirPressure; |
} |
|
int16_t analog_getDHeight(void) { |
/* |
int16_t result = 0; |
for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
result -= dAirPressureWindow[i]; // minus pressure is plus height. |
} |
// dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
return result; |
*/ |
return dHeight; |
} |