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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51
 
52
/************************************************************************/
53
/* Flight Attitude                                                      */
54
/************************************************************************/
55
 
56
#include <stdlib.h>
57
#include <avr/io.h>
58
 
59
#include "attitude.h"
60
#include "dongfangMath.h"
61
 
62
// where our main data flow comes from.
63
#include "analog.h"
64
 
65
#include "configuration.h"
66
 
67
// Some calculations are performed depending on some stick related things.
68
#include "controlMixer.h"
69
 
70
// For Servo_On / Off
71
// #include "timer2.h"
72
 
73
#ifdef USE_MK3MAG
74
#include "mk3mag.h"
75
#include "gps.h"
76
#endif
77
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
78
 
79
/*
80
 * Gyro readings, as read from the analog module. It would have been nice to flow
81
 * them around between the different calculations as a struct or array (doing
82
 * things functionally without side effects) but this is shorter and probably
83
 * faster too.
84
 * The variables are overwritten at each attitude calculation invocation - the values
85
 * are not preserved or reused.
86
 */
1645 - 87
int16_t rate[2], yawRate;
1612 dongfang 88
 
89
// With different (less) filtering
1645 - 90
int16_t rate_PID[2];
91
int16_t differential[2];
1612 dongfang 92
 
93
/*
94
 * Gyro readings, after performing "axis coupling" - that is, the transfomation
95
 * of rotation rates from the airframe-local coordinate system to a ground-fixed
96
 * coordinate system. If axis copling is disabled, the gyro readings will be
97
 * copied into these directly.
98
 * These are global for the same pragmatic reason as with the gyro readings.
99
 * The variables are overwritten at each attitude calculation invocation - the values
100
 * are not preserved or reused.
101
 */
1645 - 102
int16_t ACRate[2], ACYawRate;
1612 dongfang 103
 
104
/*
105
 * Gyro integrals. These are the rotation angles of the airframe compared to the
106
 * horizontal plane, yaw relative to yaw at start.
107
 */
1645 - 108
int32_t angle[2], yawAngle;
1612 dongfang 109
 
110
int readingHeight = 0;
111
 
112
// compass course
113
int16_t compassHeading = -1; // negative angle indicates invalid data.
114
int16_t compassCourse = -1;
115
int16_t compassOffCourse = 0;
116
uint16_t updateCompassCourse = 0;
117
uint8_t compassCalState = 0;
118
 
119
// uint8_t FunnelCourse = 0;
120
uint16_t badCompassHeading = 500;
121
int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass
122
 
1616 dongfang 123
#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
124
#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
125
#define YAWOVER360       (GYRO_DEG_FACTOR_YAW * 360L)
1612 dongfang 126
 
1646 - 127
int16_t correctionSum[2] = {0,0};
1612 dongfang 128
 
129
/*
130
 * Experiment: Compensating for dynamic-induced gyro biasing.
131
 */
1645 - 132
int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 0;
1612 dongfang 133
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
134
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
135
// int16_t dynamicCalCount;
136
 
137
/************************************************************************
138
 * Set inclination angles from the acc. sensor data.                    
139
 * If acc. sensors are not used, set to zero.                          
140
 * TODO: One could use inverse sine to calculate the angles more        
1616 dongfang 141
 * accurately, but since: 1) the angles are rather small at times when
142
 * it makes sense to set the integrals (standing on ground, or flying at  
1612 dongfang 143
 * constant speed, and 2) at small angles a, sin(a) ~= constant * a,    
144
 * it is hardly worth the trouble.                                      
145
 ************************************************************************/
146
 
1645 - 147
int32_t getAngleEstimateFromAcc(uint8_t axis) {
148
  return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis];
1612 dongfang 149
}
150
 
151
void setStaticAttitudeAngles(void) {
152
#ifdef ATTITUDE_USE_ACC_SENSORS
1645 - 153
  angle[PITCH] = getAngleEstimateFromAcc(PITCH);
154
  angle[ROLL] = getAngleEstimateFromAcc(ROLL);
1612 dongfang 155
#else
1645 - 156
  angle[PITCH] = angle[ROLL] = 0;
1612 dongfang 157
#endif
158
}
159
 
160
/************************************************************************
161
 * Neutral Readings                                                    
162
 ************************************************************************/
163
void attitude_setNeutral(void) {
164
  // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
165
  dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;
166
 
1645 - 167
  dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0;
1646 - 168
  correctionSum[PITCH] = correctionSum[ROLL] = 0;
1612 dongfang 169
 
170
  // Calibrate hardware.
171
  analog_calibrate();
172
 
173
  // reset gyro readings
1645 - 174
  rate[PITCH] = rate[ROLL] = yawRate = 0;
1612 dongfang 175
 
176
  // reset gyro integrals to acc guessing
177
  setStaticAttitudeAngles();
178
  yawAngle = 0;
179
 
180
  // update compass course to current heading
181
  compassCourse = compassHeading;
1646 - 182
 
1612 dongfang 183
  // Inititialize YawGyroIntegral value with current compass heading
184
  yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
185
 
186
  // Servo_On(); //enable servo output
187
}
188
 
189
/************************************************************************
190
 * Get sensor data from the analog module, and release the ADC          
191
 * TODO: Ultimately, the analog module could do this (instead of dumping
1645 - 192
 * the values into variables).
193
 * The rate variable end up in a range of about [-1024, 1023].
194
 * When scaled down by CONTROL_SCALING, the interval is about [-256, 256].
1612 dongfang 195
 *************************************************************************/
196
void getAnalogData(void) {
1645 - 197
  uint8_t axis;
198
 
199
  for (axis=PITCH; axis <=ROLL; axis++) {
200
    rate_PID[axis]     = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
201
    rate[axis]         = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
202
    differential[axis] = gyroD[axis];
203
  }
1646 - 204
 
1612 dongfang 205
  yawRate = yawGyro + dynamicOffsetYaw;
206
 
1645 - 207
  // We are done reading variables from the analog module.
208
  // Interrupt-driven sensor reading may restart.
1612 dongfang 209
  analogDataReady = 0;
210
  analog_start();
211
}
212
 
213
/*
214
 * This is the standard flight-style coordinate system transformation
215
 * (from airframe-local axes to a ground-based system). For some reason
216
 * the MK uses a left-hand coordinate system. The tranformation has been
217
 * changed accordingly.
218
 */
219
void trigAxisCoupling(void) {
1645 - 220
  int16_t cospitch = int_cos(angle[PITCH]);
221
  int16_t cosroll =  int_cos(angle[ROLL]);
222
  int16_t sinroll =  int_sin(angle[ROLL]);
223
  int16_t tanpitch = int_tan(angle[PITCH]);
1612 dongfang 224
#define ANTIOVF 1024
1645 - 225
  ACRate[PITCH] =             ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;
226
  ACRate[ROLL] = rate[ROLL] + (((int32_t)rate[PITCH] * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(angle[ROLL]) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));
227
  ACYawRate =                 ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;
1612 dongfang 228
}
229
 
230
void integrate(void) {
231
  // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
1645 - 232
  uint8_t axis;
233
 
1612 dongfang 234
  if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {
235
    // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.
1645 - 236
    trigAxisCoupling();    
1612 dongfang 237
  } else {
1645 - 238
    ACRate[PITCH] = rate[PITCH];
239
    ACRate[ROLL]  = rate[ROLL];
1612 dongfang 240
    ACYawRate = yawRate;
241
  }
242
 
243
  /*
244
   * Yaw
245
   * Calculate yaw gyro integral (~ to rotation angle)
246
   * Limit yawGyroHeading proportional to 0 deg to 360 deg
247
   */
248
  yawGyroHeading += ACYawRate;
1617 dongfang 249
 
250
  // Why is yawAngle not wrapped 'round?
1612 dongfang 251
  yawAngle += ACYawRate;
1617 dongfang 252
 
253
  if(yawGyroHeading >= YAWOVER360) {
254
    yawGyroHeading -= YAWOVER360;  // 360 deg. wrap
255
  } else if(yawGyroHeading < 0) {
256
    yawGyroHeading += YAWOVER360;
257
  }
1612 dongfang 258
 
259
  /*
260
   * Pitch axis integration and range boundary wrap.
261
   */
1645 - 262
  for (axis=PITCH; axis<=ROLL; axis++) {
263
    angle[axis] += ACRate[axis];
264
    if(angle[axis] > PITCHROLLOVER180) {
265
      angle[axis] -= PITCHROLLOVER360;
266
    } else if (angle[axis] <= -PITCHROLLOVER180) {
267
      angle[axis] += PITCHROLLOVER360;
268
    }
1612 dongfang 269
  }
270
}
271
 
272
/************************************************************************
273
 * A kind of 0'th order integral correction, that corrects the integrals
274
 * directly. This is the "gyroAccFactor" stuff in the original code.
1646 - 275
 * There is (there) also a drift compensation
1612 dongfang 276
 * - it corrects the differential of the integral = the gyro offsets.
277
 * That should only be necessary with drifty gyros like ENC-03.
278
 ************************************************************************/
279
void correctIntegralsByAcc0thOrder(void) {
280
  // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
281
  // are less than ....., or reintroduce Kalman.
282
  // Well actually the Z axis acc. check is not so silly.
1645 - 283
  uint8_t axis;
1646 - 284
  int32_t correction;
285
  if(!looping && acc[Z] >= -dynamicParams.UserParams[7] && acc[Z] <= dynamicParams.UserParams[7]) {
1612 dongfang 286
    DebugOut.Digital[0] = 1;
287
 
288
    uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
289
    uint8_t debugFullWeight = 1;
1646 - 290
    int32_t accDerived;
1612 dongfang 291
 
1645 - 292
    if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands
1612 dongfang 293
      permilleAcc /= 2;
294
      debugFullWeight = 0;
295
    }
296
 
297
    if(abs(controlYaw) > 25) { // reduce further if yaw stick is active
298
      permilleAcc /= 2;
299
      debugFullWeight = 0;
300
    }
301
 
302
    /*
303
     * Add to each sum: The amount by which the angle is changed just below.
304
     */
1645 - 305
    for (axis=PITCH; axis<=ROLL; axis++) {
1646 - 306
      accDerived = getAngleEstimateFromAcc(axis);
307
      DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
308
 
309
      // 1000 * the correction amount that will be added to the gyro angle in next line.
310
      correction = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
311
      angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived) / 1000L;
312
 
313
      correctionSum[axis] += angle[axis] - correction;
1612 dongfang 314
 
1645 - 315
      // There should not be a risk of overflow here, since the integrals do not exceed a few 100000.
1646 - 316
      // change = ((1000 - permilleAcc) * angle[axis] + permilleAcc * accDerived) / 1000 - angle[axis]
317
      // = (1000 * angle[axis] - permilleAcc * angle[axis] + permilleAcc * accDerived) / 1000 - angle[axis]
318
      // = (- permilleAcc * angle[axis] + permilleAcc * accDerived) / 1000
319
      // = permilleAcc * (accDerived - angle[axis]) / 1000
320
 
321
      // Experiment: Do not acutally apply the correction. See if drift compensation does that.
322
      // angle[axis] += correction / 1000;
1645 - 323
    }
324
 
1612 dongfang 325
    DebugOut.Digital[1] = debugFullWeight;
326
  } else {
327
    DebugOut.Digital[0] = 0;
328
  }
329
}
330
 
331
/************************************************************************
332
 * This is an attempt to correct not the error in the angle integrals
333
 * (that happens in correctIntegralsByAcc0thOrder above) but rather the
334
 * cause of it: Gyro drift, vibration and rounding errors.
335
 * All the corrections made in correctIntegralsByAcc0thOrder over
1646 - 336
 * DRIFTCORRECTION_TIME cycles are summed up. This number is
337
 * then divided by DRIFTCORRECTION_TIME to get the approx.
1612 dongfang 338
 * correction that should have been applied to each iteration to fix
339
 * the error. This is then added to the dynamic offsets.
340
 ************************************************************************/
1646 - 341
// 2 times / sec. = 488/2
342
#define DRIFTCORRECTION_TIME 256L
343
void driftCorrection(void) {
1612 dongfang 344
  static int16_t timer = DRIFTCORRECTION_TIME;
1646 - 345
  int16_t deltaCorrection;
1645 - 346
  uint8_t axis;
1612 dongfang 347
  if (! --timer) {
348
    timer = DRIFTCORRECTION_TIME;
1645 - 349
    for (axis=PITCH; axis<=ROLL; axis++) {
1646 - 350
      // Take the sum of corrections applied, add it to delta
351
      deltaCorrection = ((correctionSum[axis] + DRIFTCORRECTION_TIME / 2) * HIRES_GYRO_INTEGRATION_FACTOR) / DRIFTCORRECTION_TIME;
352
      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
353
      dynamicOffset[axis] += deltaCorrection / staticParams.GyroAccTrim;
354
      CHECK_MIN_MAX(dynamicOffset[axis], -staticParams.DriftComp, staticParams.DriftComp);
355
      DebugOut.Analog[11 + axis] = correctionSum[axis];
356
      DebugOut.Analog[28 + axis] = dynamicOffset[axis];
1645 - 357
      correctionSum[axis] = 0;
358
    }
1612 dongfang 359
  }
360
}
361
 
362
/************************************************************************
363
 * Main procedure.
364
 ************************************************************************/
365
void calculateFlightAttitude(void) {  
366
  getAnalogData();
367
  integrate();
1646 - 368
 
369
  DebugOut.Analog[6] = ACRate[PITCH];
370
  DebugOut.Analog[7] = ACRate[ROLL];
371
  DebugOut.Analog[8] = ACYawRate;
372
 
373
  DebugOut.Analog[3] = rate_PID[PITCH];
374
  DebugOut.Analog[4] = rate_PID[ROLL];
375
  DebugOut.Analog[5] = yawRate;
376
 
1612 dongfang 377
#ifdef ATTITUDE_USE_ACC_SENSORS
378
  correctIntegralsByAcc0thOrder();
1646 - 379
  driftCorrection();
1612 dongfang 380
#endif
381
}
382
 
383
/*
1645 - 384
  void updateCompass(void) {
1612 dongfang 385
  int16_t w, v, r,correction, error;
386
 
387
  if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {
1645 - 388
  setCompassCalState();
1612 dongfang 389
  } else {
1645 - 390
  // get maximum attitude angle
391
  w = abs(pitchAngle / 512);
392
  v = abs(rollAngle / 512);
393
  if(v > w) w = v;
394
  correction = w / 8 + 1;
395
  // calculate the deviation of the yaw gyro heading and the compass heading
396
  if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
397
  else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;
398
  if(abs(yawRate) > 128) { // spinning fast
399
  error = 0;
1612 dongfang 400
  }
1645 - 401
  if(!badCompassHeading && w < 25) {
402
  if(updateCompassCourse) {
403
  beep(200);
404
  yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
405
  compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
406
  updateCompassCourse = 0;
407
  }
408
  }
409
  yawGyroHeading += (error * 8) / correction;
410
  w = (w * dynamicParams.CompassYawEffect) / 32;
411
  w = dynamicParams.CompassYawEffect - w;
412
  if(w >= 0) {
413
  if(!badCompassHeading) {
414
  v = 64 + (maxControlPitch + maxControlRoll) / 8;
415
  // calc course deviation
416
  r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
417
  v = (r * w) / v; // align to compass course
418
  // limit yaw rate
419
  w = 3 * dynamicParams.CompassYawEffect;
420
  if (v > w) v = w;
421
  else if (v < -w) v = -w;
422
  yawAngle += v;
423
  }
424
  else
425
  { // wait a while
426
  badCompassHeading--;
427
  }
428
  }
429
  else {  // ignore compass at extreme attitudes for a while
430
  badCompassHeading = 500;
431
  }
432
  }
433
  }
1612 dongfang 434
*/
435
 
436
/*
437
 * This is part of an experiment to measure average sensor offsets caused by motor vibration,
438
 * and to compensate them away. It brings about some improvement, but no miracles.
439
 * As long as the left stick is kept in the start-motors position, the dynamic compensation
440
 * will measure the effect of vibration, to use for later compensation. So, one should keep
441
 * the stick in the start-motors position for a few seconds, till all motors run (at the wrong
442
 * speed unfortunately... must find a better way)
443
 */
444
/*
1645 - 445
  void attitude_startDynamicCalibration(void) {
1612 dongfang 446
  dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
447
  savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
1645 - 448
  }
1612 dongfang 449
 
1645 - 450
  void attitude_continueDynamicCalibration(void) {
1612 dongfang 451
  // measure dynamic offset now...
452
  dynamicCalPitch += hiResPitchGyro;
453
  dynamicCalRoll += hiResRollGyro;
454
  dynamicCalYaw += rawYawGyroSum;
455
  dynamicCalCount++;
456
 
457
  // Param6: Manual mode. The offsets are taken from Param7 and Param8.
458
  if (dynamicParams.UserParam6 || 1) { // currently always enabled.
1645 - 459
  // manual mode
460
  dynamicOffsetPitch = dynamicParams.UserParam7 - 128;
461
  dynamicOffsetRoll = dynamicParams.UserParam8 - 128;
1612 dongfang 462
  } else {
1645 - 463
  // use the sampled value (does not seem to work so well....)
464
  dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
465
  dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
466
  dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;
1612 dongfang 467
  }
468
 
469
  // keep resetting these meanwhile, to avoid accumulating errors.
470
  setStaticAttitudeIntegrals();
471
  yawAngle = 0;
1645 - 472
  }
1612 dongfang 473
*/