WebSVN - FlightCtrl - Diff - Rev 2096 and 2099 - /branches/dongfang_FC

 #include "analog.h"
 #include "attitude.h"
 #include "sensors.h"
-#include "printf_P.h"
-#include "mk3mag.h"
+#include "printf_P.h"
 // for Delay functions
  * 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 uint16_t sensorInputs[8];
-int16_t acc[3];
+//int16_t acc[3];
-int16_t filteredAcc[3] = { 0,0,0 };
+//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.
  */
-int16_t gyro_PID[2];
+int16_t gyro_PID[3];
-int16_t gyro_ATT[2];
+int16_t gyro_ATT[3];
-int16_t gyroD[2];
+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;
+uint8_t gyroDWindowIdx = 0;
-int16_t dHeight;
 int16_t dHeight;
 uint32_t gyroActivity;
 /*
  * 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) {
+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];
         // A suitable value for n: Sample is 11 bits. After transformation it is the sum
         // of 2 11 bit numbers, so 12 bits. We have 4 bits left...
         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;
-#define MAX_D_AIRPRESSURE_WINDOW_LENGTH 32
-//int32_t lastFilteredAirPressure;
-int16_t dAirPressureWindow[MAX_D_AIRPRESSURE_WINDOW_LENGTH];
+// Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered.
-uint8_t dWindowPtr = 0;
+// int32_t filteredAirPressure;
 #define MAX_AIRPRESSURE_WINDOW_LENGTH 32
 int32_t airPressureSum;
 // The number of samples summed into airPressureSum so far.
+uint8_t pressureMeasurementCount;
 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.
 /*
  * Experiment: Measuring vibration-induced sensor noise.
  */
-uint16_t gyroNoisePeak[3];
-uint16_t accNoisePeak[3];
+uint16_t gyroNoisePeak[3];
 volatile uint8_t adState;
  * The acc. sensor is sampled even if not used - or installed
  * at all. The cost is not significant.
  */
 const uint8_t channelsForStates[] PROGMEM = {
+  AD_GYRO_PITCH,
+  AD_GYRO_ROLL,
+  AD_GYRO_YAW,
-  AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW,
+  AD_AIRPRESSURE,
+  AD_GYRO_PITCH,
+  AD_GYRO_ROLL,
+  AD_GYRO_YAW,
-  AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE,
+  AD_UBAT,
+  AD_GYRO_PITCH,
-  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_GYRO_ROLL,
-  AD_ACC_PITCH,   // at 12, finish pitch axis acc.
+  AD_GYRO_YAW,
-  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_PITCH,
-  AD_GYRO_ROLL,   // at 16, finish roll gyro
+  AD_GYRO_ROLL,
 uint16_t rawGyroValue(uint8_t axis) {
         return sensorInputs[AD_GYRO_PITCH-axis];
+}
 /*
 uint16_t rawAccValue(uint8_t axis) {
+        return sensorInputs[AD_ACC_PITCH-axis];
         return sensorInputs[AD_ACC_PITCH-axis];
 */
 void measureNoise(const int16_t sensor,
 /*
  * Min.: 0
  * 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) {
     analogDataReady = 1;
     // do not restart ADC converter.
+  }
+}
 /*
 void measureGyroActivity(int16_t newValue) {
   gyroActivity += (uint32_t)((int32_t)newValue * newValue);
+}
     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;
+  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.
      */
     // 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) {
+      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);
     // 6) Done.
     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);
-   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];
+   * Now process the data for attitude angles.
-  else
+   */
-    yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW];
+  rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW);
-  // diff -= yawGyro;
+  // dampenGyroActivity();
+  gyro_ATT[PITCH] = tempOffsetGyro[PITCH];
-  // gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx];
+  gyro_ATT[ROLL] = tempOffsetGyro[ROLL];
-  // gyroD[YAW] += diff;
+  /*
-  // gyroDWindow[YAW][gyroDWindowIdx] = diff;
+  measureGyroActivity(gyroD[PITCH]);
   measureGyroActivity(gyroD[ROLL]);
-  // gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor);
+  measureGyroActivity(yawGyro);
-  measureGyroActivity(yawGyro);
-  if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) {
-      gyroDWindowIdx = 0;
-  }
-}
-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
+  if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) {
-           * 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.
+      gyroDWindowIdx = 0;
       dHeight += dAirPressureWindow[dWindowPtr];
       dAirPressureWindow[dWindowPtr++] = diff;
       if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0;
-      pressureMeasurementCount = airPressureSum = 0;
+void analog_updateAirPressure(void) {
   uint16_t rawAirPressure = sensorInputs[AD_AIRPRESSURE];
   simpleAirPressure = rawAirPressure;
+}
 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.
   UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
+}
 void analog_update(void) {
-void analog_update(void) {
+  analog_updateGyros();
-  analog_updateGyros();
+  // analog_updateAccelerometers();
-  analog_updateAccelerometers();
+  analog_updateAirPressure();
-  analog_updateAirPressure();
+  analog_updateBatteryVoltage();
-  analog_updateBatteryVoltage();
+#ifdef USE_MK3MAG
-#ifdef USE_MK3MAG
+  magneticHeading = volatileMagneticHeading;
-  magneticHeading = volatileMagneticHeading;
+#endif
-#endif
+}
 void analog_setNeutral() {
-void analog_setNeutral() {
+  gyro_init();
   gyro_init();
   if (gyroOffset_readFromEEProm()) {
+    printf("gyro offsets invalid%s",recal);
-  if (gyroOffset_readFromEEProm()) {
+    gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING;
-    printf("gyro offsets invalid%s",recal);
+    gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING;
     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;
+  }
   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 min = (512-200) * GYRO_OVERSAMPLING;
-    int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL;
+    int16_t max = (512+200) * GYRO_OVERSAMPLING;
     if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max)
       versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis;
+  }
-  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;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/analog.c - Rev 2096 → 2099