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/************************************************************************/
/* Flight Attitude */
/************************************************************************/
#include <stdlib.h>
#include <avr/io.h>
#include "attitude.h"
#include "dongfangMath.h"
// For scope debugging only!
#include "rc.h"
// where our main data flow comes from.
#include "analog.h"
#include "configuration.h"
#include "output.h"
// Some calculations are performed depending on some stick related things.
#include "controlMixer.h"
// For Servo_On / Off
// #include "timer2.h"
#ifdef USE_MK3MAG
#include "mk3mag.h"
#include "gps.h"
#endif
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
/*
* Gyro readings, as read from the analog module. It would have been nice to flow
* them around between the different calculations as a struct or array (doing
* things functionally without side effects) but this is shorter and probably
* faster too.
* The variables are overwritten at each attitude calculation invocation - the values
* are not preserved or reused.
*/
int16_t rate_ATT
[2], yawRate
;
// With different (less) filtering
int16_t rate_PID
[2];
int16_t differential
[2];
/*
* Gyro readings, after performing "axis coupling" - that is, the transfomation
* of rotation rates from the airframe-local coordinate system to a ground-fixed
* coordinate system. If axis copling is disabled, the gyro readings will be
* copied into these directly.
* These are global for the same pragmatic reason as with the gyro readings.
* The variables are overwritten at each attitude calculation invocation - the values
* are not preserved or reused.
*/
int16_t ACRate
[2], ACYawRate
;
/*
* Gyro integrals. These are the rotation angles of the airframe compared to the
* horizontal plane, yaw relative to yaw at start.
*/
int32_t angle
[2], yawAngleDiff
;
int readingHeight
= 0;
// compass course
int16_t compassHeading
= -1; // negative angle indicates invalid data.
int16_t compassCourse
= -1;
int16_t compassOffCourse
= 0;
uint16_t updateCompassCourse
= 0;
uint8_t compassCalState
= 0;
uint16_t badCompassHeading
= 500;
int32_t yawGyroHeading
; // Yaw Gyro Integral supported by compass
int16_t yawGyroDrift
;
#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
#define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L)
int16_t correctionSum
[2] = {0,0};
// For NaviCTRL use.
int16_t averageAcc
[2] = {0,0}, averageAccCount
= 0;
/*
* Experiment: Compensating for dynamic-induced gyro biasing.
*/
int16_t driftComp
[2] = {0,0}, driftCompYaw
= 0;
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
// int16_t dynamicCalCount;
/************************************************************************
* Set inclination angles from the acc. sensor data.
* If acc. sensors are not used, set to zero.
* TODO: One could use inverse sine to calculate the angles more
* accurately, but since: 1) the angles are rather small at times when
* it makes sense to set the integrals (standing on ground, or flying at
* constant speed, and 2) at small angles a, sin(a) ~= constant * a,
* it is hardly worth the trouble.
************************************************************************/
int32_t getAngleEstimateFromAcc
(uint8_t axis
) {
return GYRO_ACC_FACTOR
* (int32_t)filteredAcc
[axis
];
}
void setStaticAttitudeAngles
(void) {
#ifdef ATTITUDE_USE_ACC_SENSORS
angle
[PITCH
] = getAngleEstimateFromAcc
(PITCH
);
angle
[ROLL
] = getAngleEstimateFromAcc
(ROLL
);
#else
angle
[PITCH
] = angle
[ROLL
] = 0;
#endif
}
/************************************************************************
* Neutral Readings
************************************************************************/
void attitude_setNeutral
(void) {
// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
dynamicParams.
AxisCoupling1 = dynamicParams.
AxisCoupling2 = 0;
driftComp
[PITCH
] = driftComp
[ROLL
] = yawGyroDrift
= driftCompYaw
= 0;
correctionSum
[PITCH
] = correctionSum
[ROLL
] = 0;
// Calibrate hardware.
analog_calibrate
();
// reset gyro readings
// rate_ATT[PITCH] = rate_ATT[ROLL] = yawRate = 0;
// reset gyro integrals to acc guessing
setStaticAttitudeAngles
();
yawAngleDiff
= 0;
// update compass course to current heading
compassCourse
= compassHeading
;
// Inititialize YawGyroIntegral value with current compass heading
yawGyroHeading
= (int32_t)compassHeading
* GYRO_DEG_FACTOR_YAW
;
// Servo_On(); //enable servo output
}
/************************************************************************
* Get sensor data from the analog module, and release the ADC
* TODO: Ultimately, the analog module could do this (instead of dumping
* the values into variables).
* The rate variable end up in a range of about [-1024, 1023].
*************************************************************************/
void getAnalogData
(void) {
uint8_t axis
;
for (axis
=PITCH
; axis
<=ROLL
; axis
++) {
rate_PID
[axis
] = (gyro_PID
[axis
] + driftComp
[axis
]) / HIRES_GYRO_INTEGRATION_FACTOR
;
rate_ATT
[axis
] = (gyro_ATT
[axis
] + driftComp
[axis
]) / HIRES_GYRO_INTEGRATION_FACTOR
;
differential
[axis
] = gyroD
[axis
];
averageAcc
[axis
] += acc
[axis
];
}
averageAccCount
++;
yawRate
= yawGyro
+ driftCompYaw
;
// We are done reading variables from the analog module.
// Interrupt-driven sensor reading may restart.
analogDataReady
= 0;
analog_start
();
}
/*
* This is the standard flight-style coordinate system transformation
* (from airframe-local axes to a ground-based system). For some reason
* the MK uses a left-hand coordinate system. The tranformation has been
* changed accordingly.
*/
void trigAxisCoupling
(void) {
int16_t cospitch
= int_cos
(angle
[PITCH
]);
int16_t cosroll
= int_cos
(angle
[ROLL
]);
int16_t sinroll
= int_sin
(angle
[ROLL
]);
int16_t tanpitch
= int_tan
(angle
[PITCH
]);
#define ANTIOVF 512
ACRate
[PITCH
] = ((int32_t) rate_ATT
[PITCH
] * cosroll
- (int32_t)yawRate
* sinroll
) / (int32_t)MATH_UNIT_FACTOR
;
ACRate
[ROLL
] = rate_ATT
[ROLL
] + (((int32_t)rate_ATT
[PITCH
] * sinroll
/ ANTIOVF
* tanpitch
+ (int32_t)yawRate
* int_cos
(angle
[ROLL
]) / ANTIOVF
* tanpitch
) / ((int32_t)MATH_UNIT_FACTOR
/ ANTIOVF
* MATH_UNIT_FACTOR
));
ACYawRate
= ((int32_t) rate_ATT
[PITCH
] * sinroll
) / cospitch
+ ((int32_t)yawRate
* cosroll
) / cospitch
;
}
// 480 usec with axis coupling - almost no time without.
void integrate
(void) {
// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
uint8_t axis
;
if(!looping
&& (staticParams.
GlobalConfig & CFG_AXIS_COUPLING_ACTIVE
)) {
// The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.
trigAxisCoupling
();
} else {
ACRate
[PITCH
] = rate_ATT
[PITCH
];
ACRate
[ROLL
] = rate_ATT
[ROLL
];
ACYawRate
= yawRate
;
}
/*
* Yaw
* Calculate yaw gyro integral (~ to rotation angle)
* Limit yawGyroHeading proportional to 0 deg to 360 deg
*/
yawGyroHeading
+= ACYawRate
;
yawAngleDiff
+= yawRate
;
if(yawGyroHeading
>= YAWOVER360
) {
yawGyroHeading
-= YAWOVER360
; // 360 deg. wrap
} else if(yawGyroHeading
< 0) {
yawGyroHeading
+= YAWOVER360
;
}
/*
* Pitch axis integration and range boundary wrap.
*/
for (axis
=PITCH
; axis
<=ROLL
; axis
++) {
angle
[axis
] += ACRate
[axis
];
if(angle
[axis
] > PITCHROLLOVER180
) {
angle
[axis
] -= PITCHROLLOVER360
;
} else if (angle
[axis
] <= -PITCHROLLOVER180
) {
angle
[axis
] += PITCHROLLOVER360
;
}
}
}
/************************************************************************
* A kind of 0'th order integral correction, that corrects the integrals
* directly. This is the "gyroAccFactor" stuff in the original code.
* There is (there) also a drift compensation
* - it corrects the differential of the integral = the gyro offsets.
* That should only be necessary with drifty gyros like ENC-03.
************************************************************************/
void correctIntegralsByAcc0thOrder
(void) {
// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
// are less than ....., or reintroduce Kalman.
// Well actually the Z axis acc. check is not so silly.
uint8_t axis
;
int32_t correction
;
if(!looping
&& acc
[Z
] >= -dynamicParams.
UserParams[7] && acc
[Z
] <= dynamicParams.
UserParams[7]) {
DebugOut.
Digital[0] |= DEBUG_ACC0THORDER
;
uint8_t permilleAcc
= staticParams.
GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
uint8_t debugFullWeight
= 1;
int32_t accDerived
;
if((controlYaw
< -64) || (controlYaw
> 64)) { // reduce further if yaw stick is active
permilleAcc
/= 2;
debugFullWeight
= 0;
}
if((maxControl
[PITCH
] > 64) || (maxControl
[ROLL
] > 64)) { // reduce effect during stick commands
permilleAcc
/= 2;
debugFullWeight
= 0;
}
if (debugFullWeight
)
DebugOut.
Digital[1] |= DEBUG_ACC0THORDER
;
else
DebugOut.
Digital[1] &= ~DEBUG_ACC0THORDER
;
/*
* Add to each sum: The amount by which the angle is changed just below.
*/
for (axis
=PITCH
; axis
<=ROLL
; axis
++) {
accDerived
= getAngleEstimateFromAcc
(axis
);
DebugOut.
Analog[9 + axis
] = (10 * accDerived
) / GYRO_DEG_FACTOR_PITCHROLL
;
// 1000 * the correction amount that will be added to the gyro angle in next line.
correction
= angle
[axis
]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
angle
[axis
] = ((int32_t)(1000L - permilleAcc
) * angle
[axis
] + (int32_t)permilleAcc
* accDerived
) / 1000L;
correctionSum
[axis
] += angle
[axis
] - correction
;
DebugOut.
Analog[16+axis
] = angle
[axis
] - correction
;
}
} else {
DebugOut.
Digital[0] &= ~DEBUG_ACC0THORDER
;
DebugOut.
Digital[1] &= ~DEBUG_ACC0THORDER
;
DebugOut.
Analog[9] = 0;
DebugOut.
Analog[10] = 0;
DebugOut.
Analog[16] = 0;
DebugOut.
Analog[17] = 0;
// experiment: Kill drift compensation updates when not flying smooth.
correctionSum
[PITCH
] = correctionSum
[ROLL
] = 0;
}
}
/************************************************************************
* This is an attempt to correct not the error in the angle integrals
* (that happens in correctIntegralsByAcc0thOrder above) but rather the
* cause of it: Gyro drift, vibration and rounding errors.
* All the corrections made in correctIntegralsByAcc0thOrder over
* DRIFTCORRECTION_TIME cycles are summed up. This number is
* then divided by DRIFTCORRECTION_TIME to get the approx.
* correction that should have been applied to each iteration to fix
* the error. This is then added to the dynamic offsets.
************************************************************************/
// 2 times / sec. = 488/2
#define DRIFTCORRECTION_TIME 256L
void driftCorrection
(void) {
static int16_t timer
= DRIFTCORRECTION_TIME
;
int16_t deltaCorrection
;
uint8_t axis
;
if (! --timer
) {
timer
= DRIFTCORRECTION_TIME
;
for (axis
=PITCH
; axis
<=ROLL
; axis
++) {
// Take the sum of corrections applied, add it to delta
deltaCorrection
= (correctionSum
[axis
] * HIRES_GYRO_INTEGRATION_FACTOR
+ DRIFTCORRECTION_TIME
/ 2) / DRIFTCORRECTION_TIME
;
// Add the delta to the compensation. So positive delta means, gyro should have higher value.
driftComp
[axis
] += deltaCorrection
/ staticParams.
GyroAccTrim;
CHECK_MIN_MAX
(driftComp
[axis
], -staticParams.
DriftComp, staticParams.
DriftComp);
// DebugOut.Analog[11 + axis] = correctionSum[axis];
DebugOut.
Analog[18+axis
] = deltaCorrection
/ staticParams.
GyroAccTrim;
DebugOut.
Analog[28+axis
] = driftComp
[axis
];
correctionSum
[axis
] = 0;
}
}
}
/************************************************************************
* Main procedure.
************************************************************************/
void calculateFlightAttitude
(void) {
// part1: 550 usec.
// part1a: 550 usec.
// part1b: 60 usec.
getAnalogData
();
// end part1b
integrate
();
// end part1a
DebugOut.
Analog[6] = ACRate
[PITCH
];
DebugOut.
Analog[7] = ACRate
[ROLL
];
DebugOut.
Analog[8] = ACYawRate
;
DebugOut.
Analog[3] = rate_PID
[PITCH
];
DebugOut.
Analog[4] = rate_PID
[ROLL
];
DebugOut.
Analog[5] = yawRate
;
#ifdef ATTITUDE_USE_ACC_SENSORS
correctIntegralsByAcc0thOrder
();
driftCorrection
();
#endif
// end part1
}
void updateCompass
(void) {
int16_t w
, v
, r
,correction
, error
;
if(compassCalState
&& !(MKFlags
& MKFLAG_MOTOR_RUN
)) {
if (controlMixer_testCompassCalState
()) {
compassCalState
++;
if(compassCalState
< 5) beepNumber
(compassCalState
);
else beep
(1000);
}
} else {
// get maximum attitude angle
w
= abs(angle
[PITCH
] / 512);
v
= abs(angle
[ROLL
] / 512);
if(v
> w
) w
= v
;
correction
= w
/ 8 + 1;
// calculate the deviation of the yaw gyro heading and the compass heading
if (compassHeading
< 0) error
= 0; // disable yaw drift compensation if compass heading is undefined
else error
= ((540 + compassHeading
- (yawGyroHeading
/ GYRO_DEG_FACTOR_YAW
)) % 360) - 180;
if(abs(yawRate
) > 128) { // spinning fast
error
= 0;
}
if(!badCompassHeading
&& w
< 25) {
yawGyroDrift
+= error
;
if(updateCompassCourse
) {
beep
(200);
yawGyroHeading
= (int32_t)compassHeading
* GYRO_DEG_FACTOR_YAW
;
compassCourse
= compassHeading
; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
updateCompassCourse
= 0;
}
}
yawGyroHeading
+= (error
* 8) / correction
;
w
= (w
* dynamicParams.
CompassYawEffect) / 32;
w
= dynamicParams.
CompassYawEffect - w
;
if(w
>= 0) {
if(!badCompassHeading
) {
v
= 64 + (maxControl
[PITCH
] + maxControl
[ROLL
]) / 8;
// calc course deviation
r
= ((540 + (yawGyroHeading
/ GYRO_DEG_FACTOR_YAW
) - compassCourse
) % 360) - 180;
v
= (r
* w
) / v
; // align to compass course
// limit yaw rate
w
= 3 * dynamicParams.
CompassYawEffect;
if (v
> w
) v
= w
;
else if (v
< -w
) v
= -w
;
yawAngleDiff
+= v
;
}
else
{ // wait a while
badCompassHeading
--;
}
} else { // ignore compass at extreme attitudes for a while
badCompassHeading
= 500;
}
}
}
/*
* This is part of an experiment to measure average sensor offsets caused by motor vibration,
* and to compensate them away. It brings about some improvement, but no miracles.
* As long as the left stick is kept in the start-motors position, the dynamic compensation
* will measure the effect of vibration, to use for later compensation. So, one should keep
* the stick in the start-motors position for a few seconds, till all motors run (at the wrong
* speed unfortunately... must find a better way)
*/
/*
void attitude_startDynamicCalibration(void) {
dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
}
void attitude_continueDynamicCalibration(void) {
// measure dynamic offset now...
dynamicCalPitch += hiResPitchGyro;
dynamicCalRoll += hiResRollGyro;
dynamicCalYaw += rawYawGyroSum;
dynamicCalCount++;
// Param6: Manual mode. The offsets are taken from Param7 and Param8.
if (dynamicParams.UserParam6 || 1) { // currently always enabled.
// manual mode
driftCompPitch = dynamicParams.UserParam7 - 128;
driftCompRoll = dynamicParams.UserParam8 - 128;
} else {
// use the sampled value (does not seem to work so well....)
driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
driftCompYaw = -dynamicCalYaw / dynamicCalCount;
}
// keep resetting these meanwhile, to avoid accumulating errors.
setStaticAttitudeIntegrals();
yawAngle = 0;
}
*/