| /branches/dongfang_FC_rewrite/ADXRS610_FC2.0.c |
|---|
| 9,11 → 9,7 |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 5; |
| staticParams.DriftComp = 10; |
| staticParams.DriftComp = 3; |
| staticParams.GyroAccFactor = 1; |
| staticParams.GyroAccTrim = 5; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 78; |
| staticParams.AngleTurnOverRoll = 78; |
| } |
| /branches/dongfang_FC_rewrite/ENC-03_FC1.3.c |
|---|
| 68,8 → 68,4 |
| staticParams.DriftComp = 200; |
| staticParams.GyroAccFactor = 25; |
| staticParams.GyroAccTrim = 1; |
| // Not used. |
| // staticParams.AngleTurnOverPitch = 85; |
| // staticParams.AngleTurnOverRoll = 85; |
| } |
| /branches/dongfang_FC_rewrite/analog.h |
|---|
| 94,7 → 94,7 |
| * noticeable). 4 is fine for the default filtering. |
| * Experiment: Set it to 1. |
| */ |
| #define GYRO_FACTOR_PITCHROLL 4 |
| #define GYRO_FACTOR_PITCHROLL 1 |
| /* |
| * How many samples are summed in one ADC loop, for pitch&roll and yaw, |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 204,8 → 204,8 |
| uint8_t axis; |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| rate_PID[axis] = gyro_PID[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis]; |
| rate_ATT[axis] = gyro_ATT[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis]; |
| rate_PID[axis] = gyro_PID[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis]; |
| rate_ATT[axis] = gyro_ATT[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis]; |
| differential[axis] = gyroD[axis]; |
| averageAcc[axis] += acc[axis]; |
| } |
| 362,9 → 362,6 |
| int16_t round; |
| uint8_t axis; |
| DebugOut.Analog[6] = (DRIFTCORRECTION_TIME + DRIFTCORRECTION_TIME/2) / DRIFTCORRECTION_TIME; |
| DebugOut.Analog[7] = (-DRIFTCORRECTION_TIME + DRIFTCORRECTION_TIME/2) / DRIFTCORRECTION_TIME; |
| if (!--timer) { |
| timer = DRIFTCORRECTION_TIME; |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| /branches/dongfang_FC_rewrite/attitude.h |
|---|
| 36,7 → 36,8 |
| * Will be about 4 for InvenSense, 8 for FC1.3 and 8 for ADXRS610. |
| * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees. |
| */ |
| #define HIRES_GYRO_INTEGRATION_FACTOR (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
| #define HIRES_GYRO_INTEGRATION_FACTOR 1 |
| // (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
| /* |
| * Constant for deriving an attitude angle from acceleration measurement. |
| /branches/dongfang_FC_rewrite/eeprom.c |
|---|
| 114,7 → 114,7 |
| staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
| staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
| staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
| staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| staticParams.HeightMinGas = 30; |
| staticParams.MaxHeight = 251; |
| staticParams.HeightP = 10; |
| 178,7 → 178,10 |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
| | CFG_AXIS_COUPLING_ACTIVE; |
| /* | CFG_AXIS_COUPLING_ACTIVE*/; |
| staticParams.EmergencyGasDuration = 200; |
| staticParams.J16Timing = 10; |
| staticParams.J17Timing = 10; |
| memcpy(staticParams.Name, "Sport\0", 6); |
| } |
| 190,8 → 193,9 |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
| | CFG_AXIS_COUPLING_ACTIVE; |
| /* | CFG_AXIS_COUPLING_ACTIVE*/ ; |
| staticParams.Height_Gain = 3; |
| staticParams.EmergencyGasDuration = 200; |
| staticParams.J16Timing = 20; |
| staticParams.J17Timing = 20; |
| memcpy(staticParams.Name, "Normal\0", 7); |
| 205,10 → 209,9 |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
| | CFG_AXIS_COUPLING_ACTIVE; |
| /* | CFG_AXIS_COUPLING_ACTIVE */; |
| staticParams.Height_Gain = 3; |
| staticParams.EmergencyGasDuration = 20; |
| staticParams.AxisCouplingYawCorrection = 70; |
| staticParams.EmergencyGasDuration = 200; |
| staticParams.J16Timing = 30; |
| staticParams.J17Timing = 30; |
| memcpy(staticParams.Name, "Beginner\0", 9); |
| /branches/dongfang_FC_rewrite/flight.c |
|---|
| 436,13 → 436,13 |
| DebugOut.Analog[15] = throttleTerm; |
| for (i = 0; i < MAX_MOTORS; i++) { |
| int16_t tmp; |
| int32_t tmp; |
| if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
| tmp = (int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE] / 64L; |
| tmp += (int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH] / 64L; |
| tmp += (int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL] / 64L; |
| tmp += (int32_t)yawTerm * Mixer.Motor[i][MIX_YAW] / 64L; |
| // tmp = tmp >> 6; |
| tmp = (int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]; |
| tmp += (int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]; |
| tmp += (int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]; |
| tmp += (int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]; |
| tmp = tmp >> 6; |
| motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| // Now we scale back down to a 0..255 range. |
| tmp = motorFilters[i] / MOTOR_SCALING; |
| 476,6 → 476,9 |
| DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| DebugOut.Analog[6] = 64 >> 4; |
| DebugOut.Analog[7] = -64 >> 4; |
| /* |
| DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
| DebugOut.Analog[24] = controlYaw; |
| /branches/dongfang_FC_rewrite/invenSense.c |
|---|
| 35,9 → 35,6 |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 3; |
| staticParams.GyroAccFactor = 1; |
| staticParams.DriftComp = 10; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |
| staticParams.AngleTurnOverRoll = 85; |
| staticParams.DriftComp = 3; |
| staticParams.GyroAccTrim = 2; |
| } |
| /branches/dongfang_FC_rewrite/makefile |
|---|
| 25,8 → 25,8 |
| GYRO=ENC-03_FC1.3 |
| GYRO_HW_NAME=ENC |
| GYRO_HW_FACTOR=1.304f |
| GYRO_PITCHROLL_CORRECTION=0.9f |
| GYRO_YAW_CORRECTION=0.80f |
| GYRO_PITCHROLL_CORRECTION=1.0f |
| GYRO_YAW_CORRECTION=1.0f |
| #GYRO=ADXRS610_FC2.0 |
| #GYRO_HW_NAME=ADXR |
| 37,12 → 37,9 |
| #GYRO=invenSense |
| #GYRO_HW_NAME=Isense |
| #GYRO_HW_FACTOR=0.6827f |
| #GYRO_PITCHROLL_CORRECTION=0.93f |
| #GYRO_YAW_CORRECTION=0.97f |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| #GYRO= |
| #GYRO=invenSense |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV=0001 |
| /branches/dongfang_FC_rewrite/output.h |
|---|
| 16,7 → 16,7 |
| #define J5TOGGLE PORTD ^= (1<<PORTD3) |
| // invert means: An "1" bit in digital debug data make a LOW on the output. |
| #define DIGITAL_DEBUG_INVERT 0 |
| #define DIGITAL_DEBUG_INVERT 1 |
| #define OUTPUT_HIGH(num) {PORTC |= (4 << (num));} |
| #define OUTPUT_LOW(num) {PORTC &= ~(4 << (num));} |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 129,8 → 129,8 |
| "GyroPitch(PID) ", |
| "GyroRoll(PID) ", |
| "GyroYaw ", //5 |
| "plusround ", |
| "minusround ", |
| "GYRO_RATE_FACTOR", |
| "GYRO_RATE_FACTOR", |
| "unused ", |
| "AccPitch (angle)", |
| "AccRoll (angle) ", //10 |