WebSVN - FlightCtrl - Diff - Rev 2022 and 2096 - /branches/dongfang_FC

+#include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/pgmspace.h>
+#include <stdlib.h>
 #include "analog.h"
 #include "attitude.h"
+#include "sensors.h"
+#include "printf_P.h"
-#include "sensors.h"
+#include "mk3mag.h"
-// for Delay functions
-#include "timer0.h"
-// For DebugOut
+// for Delay functions
-#include "uart0.h"
+#include "timer0.h"
 // For reading and writing acc. meter offsets.
+#include "eeprom.h"
+// For debugOut
+#include "output.h"
-#include "eeprom.h"
+// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit
 #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE))
 // For DebugOut.Digital
-#include "output.h"
+const char* recal = ", recalibration needed.";
 /*
  * For each A/D conversion cycle, each analog channel is sampled a number of times
  * (see array channelsForStates), and the results for each channel are summed.
  * Here are those for the gyros and the acc. meters. They are not zero-offset.
  * They are exported in the analog.h file - but please do not use them! The only
  * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
  * the offsets with the DAC.
  */
-volatile int16_t rawGyroSum[3];
+volatile uint16_t sensorInputs[8];
-volatile int16_t acc[3];
+int16_t acc[3];
-volatile int16_t filteredAcc[2] = { 0,0 };
+int16_t filteredAcc[3] = { 0,0,0 };
 /*
  * These 4 exported variables are zero-offset. The "PID" ones are used
+ * in the attitude control as rotation rates. The "ATT" ones are for
+ * integration to angles.
- * in the attitude control as rotation rates. The "ATT" ones are for
+ */
+int16_t gyro_PID[2];
+int16_t gyro_ATT[2];
+int16_t gyroD[2];
+int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH];
+uint8_t gyroDWindowIdx = 0;
+int16_t yawGyro;
- * integration to angles.
+int16_t magneticHeading;
  */
-volatile int16_t gyro_PID[2];
+int32_t groundPressure;
-volatile int16_t gyro_ATT[2];
+int16_t dHeight;
 volatile int16_t gyroD[3];
-volatile int16_t yawGyro;
+uint32_t gyroActivity;
+/*
+ * Offset values. These are the raw gyro and acc. meter sums when the copter is
+ * standing still. They are used for adjusting the gyro and acc. meter values
+ * to be centered on zero.
+ */
+sensorOffset_t gyroOffset;
+sensorOffset_t accOffset;
+sensorOffset_t gyroAmplifierOffset;
+/*
+ * In the MK coordinate system, nose-down is positive and left-roll is positive.
+ * If a sensor is used in an orientation where one but not both of the axes has
+ * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true).
+ * Transform:
+ * pitch <- pp*pitch + pr*roll
+ * roll  <- rp*pitch + rr*roll
+ * Not reversed, GYRO_QUADRANT:
+ * 0: pp=1, pr=0, rp=0, rr=1  // 0    degrees
+ * 1: pp=1, pr=-1,rp=1, rr=1  // +45  degrees
+ * 2: pp=0, pr=-1,rp=1, rr=0  // +90  degrees
+ * 3: pp=-1,pr=-1,rp=1, rr=1  // +135 degrees
+ * 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees
+ * 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees
+ * 6: pp=0, pr=1, rp=-1,rr=0  // +270 degrees
+ * 7: pp=1, pr=1, rp=-1,rr=1  // +315 degrees
+ * Reversed, GYRO_QUADRANT:
+ * 0: pp=-1,pr=0, rp=0, rr=1  // 0    degrees with pitch reversed
+ * 1: pp=-1,pr=-1,rp=-1,rr=1  // +45  degrees with pitch reversed
-/*
+ * 2: pp=0, pr=-1,rp=-1,rr=0  // +90  degrees with pitch reversed
- * Offset values. These are the raw gyro and acc. meter sums when the copter is
+ * 3: pp=1, pr=-1,rp=-1,rr=1  // +135 degrees with pitch reversed
+ * 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed
+ * 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed
+ * 6: pp=0, pr=1, rp=1, rr=0  // +270 degrees with pitch reversed
+ * 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) {
+  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];
+  // 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];
+  // Roll to Roll part
+  int8_t yy = rotationTab[quadrant];
+  int16_t xIn = result[0];
+  result[0] = xx*xIn + xy*result[1];
+  result[1] = yx*xIn + yy*result[1];
+  if (quadrant & 1) {
- * standing still. They are used for adjusting the gyro and acc. meter values
+        // A rotation was used above, where the factors were too large by sqrt(2).
- * to be centered on zero.
+        // So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2).
- */
+        // A suitable value for n: Sample is 11 bits. After transformation it is the sum
-volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512
+        // of 2 11 bit numbers, so 12 bits. We have 4 bits left...
-                * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW };
+        result[0] = (result[0]*11) >> 4;
         result[1] = (result[1]*11) >> 4;
 volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512
-                * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z };
+}
+/*
+ * Air pressure
+ */
-/*
+volatile uint8_t rangewidth = 105;
+// Direct from sensor, irrespective of range.
+// volatile uint16_t rawAirPressure;
+// Value of 2 samples, with range.
+uint16_t simpleAirPressure;
- * Air pressure
+// Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered.
- */
+int32_t filteredAirPressure;
 volatile uint8_t rangewidth = 106;
+#define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32
-// Direct from sensor, irrespective of range.
+//int32_t lastFilteredAirPressure;
-// volatile uint16_t rawAirPressure;
+int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH];
 uint8_t dWindowPtr = 0;
 // Value of 2 samples, with range.
-volatile uint16_t simpleAirPressure;
+#define MAX_AIRPRESSURE_WINDOW_LENGTH 32
+int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH];
-// Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered.
+int32_t windowedAirPressure;
-volatile int32_t filteredAirPressure;
+uint8_t windowPtr = 0;
-// Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
-volatile int32_t airPressureSum;
+// Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples.
 int32_t airPressureSum;
 // The number of samples summed into airPressureSum so far.
-volatile uint8_t pressureMeasurementCount;
+// 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.
- * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
+ * So the initial value of 100 is for 9.7 volts.
- * That is divided by 3 below, for a final 10.34 per volt.
+ */
- * So the initial value of 100 is for 9.7 volts.
+int16_t UBat = 100;
  */
         PORTA = 0x00;
         // Digital Input Disable Register 0
         // Disable digital input buffer for analog adc_channel pins
         DIDR0 = 0xFF;
         // external reference, adjust data to the right
-        ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR));
+        ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR));
         // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
-        ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH;
+        ADMUX = (ADMUX & 0xE0);
         //Set ADC Control and Status Register A
         //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
-        ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1
-                        << ADPS1) | (1 << ADPS0) | (0 << ADIE);
+        ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
         //Set ADC Control and Status Register B
         //Trigger Source to Free Running Mode
-        ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0));
+        ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0));
+        for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) {
-        // Start AD conversion
+          airPressureWindow[i] = 0;
+        }
+    windowedAirPressure = 0;
-        analog_start();
+        startAnalogConversionCycle();
         // restore global interrupt flags
         SREG = sreg;
+}
+uint16_t rawGyroValue(uint8_t axis) {
+        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) {
         if (sensor > (int16_t) (*noiseMeasurement)) {
                 *noiseMeasurement = sensor;
 /*
  * Min.: 0
  * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
  */
 uint16_t getSimplePressure(int advalue) {
-  return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
+        uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue;
+        result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10;
+        return result;
+}
-/*
- * In the MK coordinate system, nose-down is positive and left-roll is positive.
- * If a sensor is used in an orientation where one but not both of the axes has
+void startAnalogConversionCycle(void) {
- * an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true).
+  analogDataReady = 0;
- */
-void transformPRGyro(int16_t* result) {
+  // Stop the sampling. Cycle is over.
-  static const uint8_t tab[] = {1,1,0,0-1,-1,-1,0,1};
+  for (uint8_t i = 0; i < 8; i++) {
-  // Pitch to Pitch part
-  int8_t pp = PR_GYROS_ORIENTATION_REVERSED ? tab[(GYRO_QUADRANT+4)%8] : tab[GYRO_QUADRANT];
-  // Pitch to Roll part
-  int8_t pr = tab[(GYRO_QUADRANT+2)%8];
+    sensorInputs[i] = 0;
-  // Roll to Roll part
-  int8_t rp = PR_GYROS_ORIENTATION_REVERSED ? tab[(GYRO_QUADRANT+2)%8] : tab[(GYRO_QUADRANT+6)%8];
+  }
-  // Roll to Roll part
+  adState = 0;
-  int8_t rr = tab[GYRO_QUADRANT];
+  adChannel = AD_GYRO_PITCH;
-  int16_t pitchIn = result[PITCH];
-  result[PITCH] = pp*result[PITCH] + pr*result[ROLL];
+  ADMUX = (ADMUX & 0xE0) | adChannel;
-  result[ROLL] = rp*pitchIn + rr*result[ROLL];
+  startADC();
+}
 /*****************************************************
- * Interrupt Service Routine for ADC
- * Runs at 312.5 kHz or 3.2 us. When all states are
+ * Interrupt Service Routine for ADC
- * processed the interrupt is disabled and further
+ * Runs at 312.5 kHz or 3.2 �s. When all states are
- * AD conversions are stopped.
+ * processed further conversions are stopped.
- *****************************************************/
-ISR(ADC_vect) {
-        static uint8_t ad_channel = AD_GYRO_PITCH, state = 0;
-        static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
-        static uint16_t pressureAutorangingWait = 25;
-        uint16_t rawAirPressure;
-        uint8_t i, axis;
-        int16_t newrange;
-        // for various filters...
-        int16_t tempOffsetGyro[2];
+ *****************************************************/
-        sensorInputs[ad_channel] += ADC;
-        /*
-         * Actually we don't need this "switch". We could do all the sampling into the
-         * sensorInputs array first, and all the processing after the last sample.
-         */
-        switch (state++) {
+ISR(ADC_vect) {
-        case 8: // Z acc
-                if (Z_ACC_REVERSED)
-                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];
-                else
-                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];
-                /*
-        stronglyFilteredAcc[Z] =
+  sensorInputs[adChannel] += ADC;
-            (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;
-        */
-                break;
+  // set up for next state.
-        case 11: // yaw gyro
-                rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW];
+  adState++;
-                if (YAW_GYRO_REVERSED)
-                  tempOffsetGyro[0] = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW];
-                else
-                  tempOffsetGyro[0] = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW];
-                gyroD[YAW] = (gyroD[YAW] * (staticParams.DGyroFilter - 1) + (tempOffsetGyro[0] - yawGyro)) / staticParams.DGyroFilter;
-                yawGyro = tempOffsetGyro[0];
-                break;
-    case 13: // roll axis acc.
+  if (adState < sizeof(channelsForStates)) {
-            // We have no sensor installed...
-            acc[PITCH] = acc[ROLL] = 0;
+    adChannel = pgm_read_byte(&channelsForStates[adState]);
-            for (axis=0; axis<2; axis++) {
-        filteredAcc[axis] =
-                    (filteredAcc[axis] * (staticParams.accFilter - 1) + acc[axis]) / staticParams.accFilter;
-                measureNoise(acc[axis], &accNoisePeak[axis], 1);
-            }
-                break;
-        case 14: // air pressure
-                if (pressureAutorangingWait) {
-                        //A range switch was done recently. Wait for steadying.
-                        pressureAutorangingWait--;
-                        DebugOut.Analog[27] = (uint16_t) OCR0A;
-                        DebugOut.Analog[31] = simpleAirPressure;
-                        break;
-                }
-                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) {
+    // set adc muxer to next adChannel
-                        // 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 {
+    ADMUX = (ADMUX & 0xE0) | adChannel;
-                                if (OCR0A < 254) {
-                                        OCR0A++;
-                                        pressureAutorangingWait = AUTORANGE_WAIT_FACTOR;
-                                }
-                        }
-                }
-                // Even if the sample is off-range, use it.
-                simpleAirPressure = getSimplePressure(rawAirPressure);
-                DebugOut.Analog[27] = (uint16_t) OCR0A;
-                DebugOut.Analog[31] = 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
+    // after full cycle stop further interrupts
-                                                        * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
-                } else {
-                        // normal case.
-                        // If AIRPRESSURE_SUMMATION_FACTOR 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;
-                        if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
-                                airPressureSum += simpleAirPressure / 2;
-                        else
-                                airPressureSum += simpleAirPressure;
-                }
-                // 2 samples were added.
-                pressureMeasurementCount += 2;
-                if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
-                        filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1)
-                                        + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER;
-                        pressureMeasurementCount = airPressureSum = 0;
-                }
-                break;
-    case 16: // pitch and roll gyro.
-            for (axis=0; axis<2; axis++) {
-                tempOffsetGyro[axis] = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis];
-                // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
-                //    gyro with a wider range, and helps counter saturation at full control.
-                if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) {
-                  if (tempOffsetGyro[axis] < SENSOR_MIN_PITCHROLL) {
-                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
-                                tempOffsetGyro[axis] = tempOffsetGyro[axis] * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
-                        } else if (tempOffsetGyro[axis] > SENSOR_MAX_PITCHROLL) {
-                                DebugOut.Digital[0] |= DEBUG_SENSORLIMIT;
-                                tempOffsetGyro[axis] = (tempOffsetGyro[axis] - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
-                        } else {
-                                DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT;
-                        }
-                }
-                // 2) Apply sign and offset, scale before filtering.
-                tempOffsetGyro[axis] = (tempOffsetGyro[axis] - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-            }
-        // 2.1: Transform axis if configured to.
-            transformPRGyro(tempOffsetGyro);
-                // 3) Scale and filter.
-            for (axis=0; axis<2; axis++) {
-                tempOffsetGyro[axis] = (gyro_PID[axis] * (staticParams.PIDGyroFilter - 1) + tempOffsetGyro[axis]) / staticParams.PIDGyroFilter;
-                // 4) Measure noise.
-                measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
-                // 5) Differential measurement.
-                gyroD[axis] = (gyroD[axis] * (staticParams.DGyroFilter - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.DGyroFilter;
-                // 6) Done.
-                gyro_PID[axis] = tempOffsetGyro[axis];
-            }
-                /*
-                 * Now process the data for attitude angles.
-                 */
-            for (axis=0; axis<2; axis++) {
-              tempOffsetGyro[axis] = (rawGyroSum[axis] - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL;
-            }
-            transformPRGyro(tempOffsetGyro);
-            // 2) Filter. This should really be quite unnecessary. The integration should gobble up any noise anyway and the values are not used for anything else.
-            gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter;
-            gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter;
-            break;
-        case 17:
-                // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
-                // This is divided by 3 --> 10.34 counts per volt.
-                UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
+    startADC();
-                DebugOut.Analog[20] = UBat;
-                analogDataReady = 1; // mark
+  } else {
-                ADCycleCount++;
-                // Stop the sampling. Cycle is over.
-                state = 0;
-                for (i = 0; i < 8; i++) {
+    analogDataReady = 1;
-                        sensorInputs[i] = 0;
-                }
-                break;
-        default: {
+    // do not restart ADC converter.
-        } // do nothing.
+  }
-        }
+}
-        // set up for next state.
-        ad_channel = pgm_read_byte(&channelsForStates[state]);
-        // ad_channel = channelsForStates[state];
-        // set adc muxer to next ad_channel
-        ADMUX = (ADMUX & 0xE0) | ad_channel;
         // after full cycle stop further interrupts
+void measureGyroActivity(int16_t newValue) {
-        if (state)
+  gyroActivity += (uint32_t)((int32_t)newValue * newValue);
-                analog_start();
+}
-}
+#define GADAMPING 6
+void dampenGyroActivity(void) {
+  static uint8_t cnt = 0;
+  if (++cnt >= IMUConfig.gyroActivityDamping) {
+    cnt = 0;
+    gyroActivity *= (uint32_t)((1L<<GADAMPING)-1);
+    gyroActivity >>= GADAMPING;
+  }
+}
+/*
+void dampenGyroActivity(void) {
+  if (gyroActivity >= 2000) {
+    gyroActivity -= 2000;
+  }
+}
+*/
+void analog_updateGyros(void) {
+  // for various filters...
+  int16_t tempOffsetGyro[2], tempGyro;
+  debugOut.digital[0] &= ~DEBUG_SENSORLIMIT;
+  for (uint8_t axis=0; axis<2; axis++) {
+    tempGyro = rawGyroValue(axis);
+    /*
+     * Process the gyro data for the PID controller.
+     */
+    // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a
+    //    gyro with a wider range, and helps counter saturation at full control.
+    if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) {
+      if (tempGyro < SENSOR_MIN_PITCHROLL) {
+                debugOut.digital[0] |= DEBUG_SENSORLIMIT;
+                tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT;
+      } else if (tempGyro > SENSOR_MAX_PITCHROLL) {
+                debugOut.digital[0] |= DEBUG_SENSORLIMIT;
+                tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL;
+      }
+    }
+    // 2) Apply sign and offset, scale before filtering.
+    tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL;
+  }
+  // 2.1: Transform axes.
+  rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR);
+  for (uint8_t axis=0; axis<2; axis++) {
+        // 3) Filter.
+    tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant;
+    // 4) Measure noise.
+    measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING);
+    // 5) Differential measurement.
+    // gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant;
+    int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis];
+    gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx];
+    gyroD[axis] += diff;
+    gyroDWindow[axis][gyroDWindowIdx] = diff;
+    // 6) Done.
+    gyro_PID[axis] = tempOffsetGyro[axis];
+    // Prepare tempOffsetGyro for next calculation below...
+    tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL;
+  }
-void analog_calibrate(void) {
+  /*
+   * Now process the data for attitude angles.
+   */
+   rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR);
+   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(yawGyro);
-#define GYRO_OFFSET_CYCLES 32
-        uint8_t i, axis;
+  if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) {
-        int32_t deltaOffsets[3] = { 0, 0, 0 };
+      gyroDWindowIdx = 0;
+  }
+}
+void analog_updateAccelerometers(void) {
+  // Pitch and roll axis accelerations.
+  for (uint8_t axis=0; axis<2; axis++) {
-        gyro_calibrate();
+    acc[axis] = rawAccValue(axis) - accOffset.offsets[axis];
+  }
-        // determine gyro bias by averaging (requires that the copter does not rotate around any 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;
-        for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
+  int16_t newrange;
+  // air pressure
+  if (pressureAutorangingWait) {
+    //A range switch was done recently. Wait for steadying.
-                delay_ms_Mess(20);
+    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
-                for (axis = PITCH; axis <= YAW; axis++) {
+      newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4;  // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
-                        deltaOffsets[axis] += rawGyroSum[axis];
+      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;
+    }
+  }
-        for (axis = PITCH; axis <= YAW; axis++) {
+}
-                gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
-                // DebugOut.Analog[20 + axis] = gyroOffset[axis];
-        }
+void analog_updateBatteryVoltage(void) {
+  // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
+  // This is divided by 3 --> 10.34 counts per volt.
-        // Noise is relativ to offset. So, reset noise measurements when changing offsets.
+  UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
+}
+void analog_update(void) {
+  analog_updateGyros();
+  analog_updateAccelerometers();
+  analog_updateAirPressure();
+  analog_updateBatteryVoltage();
+#ifdef USE_MK3MAG
+  magneticHeading = volatileMagneticHeading;
+#endif
+}
+void analog_setNeutral() {
+  gyro_init();
+  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;
+  }
+  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.
-        gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0;
+  for (uint8_t i=PITCH; i<=ROLL; 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;
+          }
+  }
+  // Setting offset values has an influence in the analog.c ISR
+  // Therefore run measurement for 100ms to achive stable readings
+  delay_ms_with_adc_measurement(100, 0);
+  gyroActivity = 0;
+}
+void analog_calibrateGyros(void) {
+#define GYRO_OFFSET_CYCLES 32
+  uint8_t i, axis;
+  int32_t offsets[3] = { 0, 0, 0 };
+  gyro_calibrate();
+  // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
+  for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
+    delay_ms_with_adc_measurement(10, 1);
+    for (axis = PITCH; axis <= YAW; axis++) {
+      offsets[axis] += rawGyroValue(axis);
+    }
+  }
+  for (axis = PITCH; axis <= YAW; axis++) {
     gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES;
         accOffset[PITCH] = GetParamWord(PID_ACC_PITCH);
-        accOffset[ROLL] = GetParamWord(PID_ACC_ROLL);
+    int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL;
-        accOffset[Z] = GetParamWord(PID_ACC_Z);
+    int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL;
     if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max)
-        // Rough estimate. Hmm no nothing happens at calibration anyway.
+      versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis;
         // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
         // pressureMeasurementCount = 0;
   gyroOffset_writeToEEProm();
-        delay_ms_Mess(100);
+  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
+ * Find acc. offsets for a neutral reading, and write them to EEPROM.
- * directly from here, though.
+ * Does not (!} update the local variables. This must be done with a
- */
+ * call to analog_calibrate() - this always (?) is done by the caller
-void analog_calibrateAcc(void) {
+ * anyway. There would be nothing wrong with updating the variables
+ * directly from here, though.
-#define ACC_OFFSET_CYCLES 10
+ */
+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.
-        uint8_t i, axis;
+                min = (768-200) * ACC_OVERSAMPLING_Z;
-        int32_t deltaOffset[3] = { 0, 0, 0 };
+                        max = (768+200) * ACC_OVERSAMPLING_Z;
+        }
+    } else {
-        int16_t filteredDelta;
+        min = (512-200) * ACC_OVERSAMPLING_XY;
-        // int16_t pressureDiff, savedRawAirPressure;
+        max = (512+200) * ACC_OVERSAMPLING_XY;
+    }
-        for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
+    if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) {
-                delay_ms_Mess(10);
-                for (axis = PITCH; axis <= YAW; axis++) {
+      versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis;
-                        deltaOffset[axis] += acc[axis];
-                }
+    }
-        }
-        for (axis = PITCH; axis <= YAW; axis++) {
-                filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2)
+  }
-                                / ACC_OFFSET_CYCLES;
-                accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta;
-        }
-        // Save ACC neutral settings to eeprom
-        SetParamWord(PID_ACC_PITCH, accOffset[PITCH]);
-        SetParamWord(PID_ACC_ROLL, accOffset[ROLL]);
-        SetParamWord(PID_ACC_Z, accOffset[Z]);
+  accOffset_writeToEEProm();
-        // Noise is relative to offset. So, reset noise measurements when
-        // changing offsets.
-        accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0;
+  startAnalogConversionCycle();
-        // Setting offset values has an influence in the analog.c ISR
-        // Therefore run measurement for 100ms to achive stable readings
-        delay_ms_Mess(100);
+}
-        */
-        // Set the feedback so that air pressure ends up in the middle of the range.
-        // (raw pressure high --> OCR0A also high...)
-        /*
-         OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
-         delay_ms_Mess(1000);
-         pressureDiff = 0;
-         // DebugOut.Analog[16] = rawAirPressure;
+void analog_setGround() {
-         #define PRESSURE_CAL_CYCLE_COUNT 5
-         for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
+  groundPressure = filteredAirPressure;
-         savedRawAirPressure = rawAirPressure;
+}
-         OCR0A+=2;
+int32_t analog_getHeight(void) {
-         delay_ms_Mess(500);
+  return groundPressure - filteredAirPressure;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/analog.c - Rev 2022 → 2096