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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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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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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | |||
52 | /************************************************************************/ |
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53 | /* Flight Attitude */ |
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54 | /************************************************************************/ |
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55 | |||
56 | #include <stdlib.h> |
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57 | #include <avr/io.h> |
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58 | |||
59 | #include "attitude.h" |
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60 | #include "dongfangMath.h" |
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61 | |||
62 | // where our main data flow comes from. |
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63 | #include "analog.h" |
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64 | |||
65 | #include "configuration.h" |
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66 | |||
67 | // Some calculations are performed depending on some stick related things. |
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68 | #include "controlMixer.h" |
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69 | |||
70 | // For Servo_On / Off |
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71 | // #include "timer2.h" |
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72 | |||
73 | #ifdef USE_MK3MAG |
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74 | #include "mk3mag.h" |
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75 | #include "gps.h" |
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76 | #endif |
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77 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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78 | |||
79 | /* |
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80 | * Gyro readings, as read from the analog module. It would have been nice to flow |
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81 | * them around between the different calculations as a struct or array (doing |
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82 | * things functionally without side effects) but this is shorter and probably |
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83 | * faster too. |
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84 | * The variables are overwritten at each attitude calculation invocation - the values |
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85 | * are not preserved or reused. |
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86 | */ |
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1645 | - | 87 | int16_t rate[2], yawRate; |
1612 | dongfang | 88 | |
89 | // With different (less) filtering |
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1645 | - | 90 | int16_t rate_PID[2]; |
91 | int16_t differential[2]; |
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1612 | dongfang | 92 | |
93 | /* |
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94 | * Gyro readings, after performing "axis coupling" - that is, the transfomation |
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95 | * of rotation rates from the airframe-local coordinate system to a ground-fixed |
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96 | * coordinate system. If axis copling is disabled, the gyro readings will be |
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97 | * copied into these directly. |
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98 | * These are global for the same pragmatic reason as with the gyro readings. |
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99 | * The variables are overwritten at each attitude calculation invocation - the values |
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100 | * are not preserved or reused. |
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101 | */ |
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1645 | - | 102 | int16_t ACRate[2], ACYawRate; |
1612 | dongfang | 103 | |
104 | /* |
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105 | * Gyro integrals. These are the rotation angles of the airframe compared to the |
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106 | * horizontal plane, yaw relative to yaw at start. |
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107 | */ |
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1645 | - | 108 | int32_t angle[2], yawAngle; |
1612 | dongfang | 109 | |
110 | int readingHeight = 0; |
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111 | |||
112 | // compass course |
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113 | int16_t compassHeading = -1; // negative angle indicates invalid data. |
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114 | int16_t compassCourse = -1; |
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115 | int16_t compassOffCourse = 0; |
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116 | uint16_t updateCompassCourse = 0; |
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117 | uint8_t compassCalState = 0; |
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118 | |||
119 | // uint8_t FunnelCourse = 0; |
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120 | uint16_t badCompassHeading = 500; |
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121 | int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
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122 | |||
1616 | dongfang | 123 | #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
124 | #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
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125 | #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
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1612 | dongfang | 126 | |
1645 | - | 127 | int32_t correctionSum[2] = {0,0}; |
1612 | dongfang | 128 | |
129 | /* |
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130 | * Experiment: Compensating for dynamic-induced gyro biasing. |
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131 | */ |
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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; |
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135 | // int16_t dynamicCalCount; |
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136 | |||
137 | /************************************************************************ |
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138 | * Set inclination angles from the acc. sensor data. |
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139 | * If acc. sensors are not used, set to zero. |
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140 | * TODO: One could use inverse sine to calculate the angles more |
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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 |
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1612 | dongfang | 143 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
144 | * it is hardly worth the trouble. |
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145 | ************************************************************************/ |
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146 | |||
1645 | - | 147 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
148 | return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis]; |
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1612 | dongfang | 149 | } |
150 | |||
151 | void setStaticAttitudeAngles(void) { |
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152 | #ifdef ATTITUDE_USE_ACC_SENSORS |
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1645 | - | 153 | angle[PITCH] = getAngleEstimateFromAcc(PITCH); |
154 | angle[ROLL] = getAngleEstimateFromAcc(ROLL); |
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1612 | dongfang | 155 | #else |
1645 | - | 156 | angle[PITCH] = angle[ROLL] = 0; |
1612 | dongfang | 157 | #endif |
158 | } |
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159 | |||
160 | /************************************************************************ |
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161 | * Neutral Readings |
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162 | ************************************************************************/ |
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163 | void attitude_setNeutral(void) { |
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164 | // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
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165 | dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0; |
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166 | |||
1645 | - | 167 | dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0; |
1612 | dongfang | 168 | |
169 | // Calibrate hardware. |
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170 | analog_calibrate(); |
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171 | |||
172 | // reset gyro readings |
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1645 | - | 173 | rate[PITCH] = rate[ROLL] = yawRate = 0; |
1612 | dongfang | 174 | |
175 | // reset gyro integrals to acc guessing |
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176 | setStaticAttitudeAngles(); |
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177 | yawAngle = 0; |
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178 | |||
179 | // update compass course to current heading |
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180 | compassCourse = compassHeading; |
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181 | // Inititialize YawGyroIntegral value with current compass heading |
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182 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
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183 | |||
184 | // Servo_On(); //enable servo output |
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185 | } |
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186 | |||
187 | /************************************************************************ |
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188 | * Get sensor data from the analog module, and release the ADC |
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189 | * TODO: Ultimately, the analog module could do this (instead of dumping |
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1645 | - | 190 | * the values into variables). |
191 | * The rate variable end up in a range of about [-1024, 1023]. |
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192 | * When scaled down by CONTROL_SCALING, the interval is about [-256, 256]. |
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1612 | dongfang | 193 | *************************************************************************/ |
194 | void getAnalogData(void) { |
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1645 | - | 195 | uint8_t axis; |
196 | |||
197 | for (axis=PITCH; axis <=ROLL; axis++) { |
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198 | rate_PID[axis] = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR; |
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199 | rate[axis] = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR; |
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200 | differential[axis] = gyroD[axis]; |
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201 | } |
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1612 | dongfang | 202 | yawRate = yawGyro + dynamicOffsetYaw; |
203 | |||
1645 | - | 204 | // We are done reading variables from the analog module. |
205 | // Interrupt-driven sensor reading may restart. |
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1612 | dongfang | 206 | analogDataReady = 0; |
207 | analog_start(); |
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208 | } |
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209 | |||
210 | /* |
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211 | * This is the standard flight-style coordinate system transformation |
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212 | * (from airframe-local axes to a ground-based system). For some reason |
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213 | * the MK uses a left-hand coordinate system. The tranformation has been |
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214 | * changed accordingly. |
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215 | */ |
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216 | void trigAxisCoupling(void) { |
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1645 | - | 217 | int16_t cospitch = int_cos(angle[PITCH]); |
218 | int16_t cosroll = int_cos(angle[ROLL]); |
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219 | int16_t sinroll = int_sin(angle[ROLL]); |
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220 | int16_t tanpitch = int_tan(angle[PITCH]); |
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1612 | dongfang | 221 | #define ANTIOVF 1024 |
1645 | - | 222 | ACRate[PITCH] = ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
223 | 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)); |
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224 | ACYawRate = ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
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1612 | dongfang | 225 | } |
226 | |||
227 | void integrate(void) { |
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228 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
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1645 | - | 229 | uint8_t axis; |
230 | |||
1612 | dongfang | 231 | if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) { |
232 | // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead. |
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1645 | - | 233 | trigAxisCoupling(); |
1612 | dongfang | 234 | } else { |
1645 | - | 235 | ACRate[PITCH] = rate[PITCH]; |
236 | ACRate[ROLL] = rate[ROLL]; |
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1612 | dongfang | 237 | ACYawRate = yawRate; |
238 | } |
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239 | |||
1645 | - | 240 | DebugOut.Analog[3] = ACRate[PITCH]; |
241 | DebugOut.Analog[4] = ACRate[ROLL]; |
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242 | DebugOut.Analog[5] = ACYawRate; |
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1612 | dongfang | 243 | |
244 | /* |
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245 | * Yaw |
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246 | * Calculate yaw gyro integral (~ to rotation angle) |
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247 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
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248 | */ |
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249 | yawGyroHeading += ACYawRate; |
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1617 | dongfang | 250 | |
251 | // Why is yawAngle not wrapped 'round? |
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1612 | dongfang | 252 | yawAngle += ACYawRate; |
1617 | dongfang | 253 | |
254 | if(yawGyroHeading >= YAWOVER360) { |
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255 | yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
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256 | } else if(yawGyroHeading < 0) { |
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257 | yawGyroHeading += YAWOVER360; |
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258 | } |
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1612 | dongfang | 259 | |
260 | /* |
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261 | * Pitch axis integration and range boundary wrap. |
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262 | */ |
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1645 | - | 263 | for (axis=PITCH; axis<=ROLL; axis++) { |
264 | angle[axis] += ACRate[axis]; |
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265 | if(angle[axis] > PITCHROLLOVER180) { |
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266 | angle[axis] -= PITCHROLLOVER360; |
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267 | } else if (angle[axis] <= -PITCHROLLOVER180) { |
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268 | angle[axis] += PITCHROLLOVER360; |
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269 | } |
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1612 | dongfang | 270 | } |
271 | } |
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272 | |||
273 | /************************************************************************ |
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274 | * A kind of 0'th order integral correction, that corrects the integrals |
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275 | * directly. This is the "gyroAccFactor" stuff in the original code. |
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276 | * There is (there) also what I would call a "minus 1st order correction" |
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277 | * - it corrects the differential of the integral = the gyro offsets. |
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278 | * That should only be necessary with drifty gyros like ENC-03. |
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279 | ************************************************************************/ |
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280 | void correctIntegralsByAcc0thOrder(void) { |
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281 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
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282 | // are less than ....., or reintroduce Kalman. |
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283 | // Well actually the Z axis acc. check is not so silly. |
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1645 | - | 284 | uint8_t axis; |
285 | if(!looping && //((ZAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
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286 | ZAcc >= -dynamicParams.UserParams[7] && ZAcc <= dynamicParams.UserParams[7]) { |
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1612 | dongfang | 287 | DebugOut.Digital[0] = 1; |
288 | |||
289 | uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
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290 | uint8_t debugFullWeight = 1; |
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1645 | - | 291 | int32_t accDerived[2]; |
1612 | dongfang | 292 | |
1645 | - | 293 | if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands |
1612 | dongfang | 294 | permilleAcc /= 2; |
295 | debugFullWeight = 0; |
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296 | } |
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297 | |||
298 | if(abs(controlYaw) > 25) { // reduce further if yaw stick is active |
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299 | permilleAcc /= 2; |
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300 | debugFullWeight = 0; |
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301 | } |
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302 | |||
303 | /* |
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304 | * Add to each sum: The amount by which the angle is changed just below. |
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305 | */ |
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1645 | - | 306 | for (axis=PITCH; axis<=ROLL; axis++) { |
307 | accDerived[axis] = getAngleEstimateFromAcc(axis); |
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308 | correctionSum[axis] += permilleAcc * (accDerived[axis] - angle[axis]); |
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1612 | dongfang | 309 | |
1645 | - | 310 | // There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
311 | angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived[axis]) / 1000L; |
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312 | } |
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313 | |||
1612 | dongfang | 314 | DebugOut.Digital[1] = debugFullWeight; |
315 | } else { |
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316 | DebugOut.Digital[0] = 0; |
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317 | } |
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318 | } |
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319 | |||
320 | /************************************************************************ |
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321 | * This is an attempt to correct not the error in the angle integrals |
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322 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
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323 | * cause of it: Gyro drift, vibration and rounding errors. |
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324 | * All the corrections made in correctIntegralsByAcc0thOrder over |
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325 | * MINUSFIRSTORDERCORRECTION_TIME cycles are summed up. This number is |
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326 | * then divided by MINUSFIRSTORDERCORRECTION_TIME to get the approx. |
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327 | * correction that should have been applied to each iteration to fix |
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328 | * the error. This is then added to the dynamic offsets. |
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329 | ************************************************************************/ |
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330 | // 2 times / sec. |
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331 | #define DRIFTCORRECTION_TIME 488/2 |
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332 | void driftCompensation(void) { |
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333 | static int16_t timer = DRIFTCORRECTION_TIME; |
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334 | int16_t deltaCompensation; |
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1645 | - | 335 | uint8_t axis; |
1612 | dongfang | 336 | if (! --timer) { |
337 | timer = DRIFTCORRECTION_TIME; |
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1645 | - | 338 | for (axis=PITCH; axis<=ROLL; axis++) { |
339 | deltaCompensation = ((correctionSum[axis] + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
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340 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
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341 | dynamicOffset[axis] += deltaCompensation / staticParams.GyroAccTrim; |
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342 | correctionSum[axis] = 0; |
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343 | DebugOut.Analog[28 + axis] = dynamicOffset; |
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344 | } |
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1612 | dongfang | 345 | } |
346 | } |
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347 | |||
348 | /************************************************************************ |
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349 | * Main procedure. |
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350 | ************************************************************************/ |
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351 | void calculateFlightAttitude(void) { |
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352 | getAnalogData(); |
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353 | integrate(); |
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354 | #ifdef ATTITUDE_USE_ACC_SENSORS |
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355 | correctIntegralsByAcc0thOrder(); |
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356 | driftCompensation(); |
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357 | #endif |
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358 | } |
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359 | |||
360 | /* |
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1645 | - | 361 | void updateCompass(void) { |
1612 | dongfang | 362 | int16_t w, v, r,correction, error; |
363 | |||
364 | if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
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1645 | - | 365 | setCompassCalState(); |
1612 | dongfang | 366 | } else { |
1645 | - | 367 | // get maximum attitude angle |
368 | w = abs(pitchAngle / 512); |
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369 | v = abs(rollAngle / 512); |
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370 | if(v > w) w = v; |
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371 | correction = w / 8 + 1; |
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372 | // calculate the deviation of the yaw gyro heading and the compass heading |
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373 | if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
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374 | else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
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375 | if(abs(yawRate) > 128) { // spinning fast |
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376 | error = 0; |
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1612 | dongfang | 377 | } |
1645 | - | 378 | if(!badCompassHeading && w < 25) { |
379 | if(updateCompassCourse) { |
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380 | beep(200); |
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381 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
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382 | compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
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383 | updateCompassCourse = 0; |
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384 | } |
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385 | } |
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386 | yawGyroHeading += (error * 8) / correction; |
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387 | w = (w * dynamicParams.CompassYawEffect) / 32; |
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388 | w = dynamicParams.CompassYawEffect - w; |
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389 | if(w >= 0) { |
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390 | if(!badCompassHeading) { |
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391 | v = 64 + (maxControlPitch + maxControlRoll) / 8; |
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392 | // calc course deviation |
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393 | r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
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394 | v = (r * w) / v; // align to compass course |
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395 | // limit yaw rate |
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396 | w = 3 * dynamicParams.CompassYawEffect; |
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397 | if (v > w) v = w; |
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398 | else if (v < -w) v = -w; |
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399 | yawAngle += v; |
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400 | } |
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401 | else |
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402 | { // wait a while |
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403 | badCompassHeading--; |
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404 | } |
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405 | } |
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406 | else { // ignore compass at extreme attitudes for a while |
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407 | badCompassHeading = 500; |
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408 | } |
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409 | } |
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410 | } |
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1612 | dongfang | 411 | */ |
412 | |||
413 | /* |
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414 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
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415 | * and to compensate them away. It brings about some improvement, but no miracles. |
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416 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
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417 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
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418 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
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419 | * speed unfortunately... must find a better way) |
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420 | */ |
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421 | /* |
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1645 | - | 422 | void attitude_startDynamicCalibration(void) { |
1612 | dongfang | 423 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
424 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
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1645 | - | 425 | } |
1612 | dongfang | 426 | |
1645 | - | 427 | void attitude_continueDynamicCalibration(void) { |
1612 | dongfang | 428 | // measure dynamic offset now... |
429 | dynamicCalPitch += hiResPitchGyro; |
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430 | dynamicCalRoll += hiResRollGyro; |
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431 | dynamicCalYaw += rawYawGyroSum; |
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432 | dynamicCalCount++; |
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433 | |||
434 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
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435 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
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1645 | - | 436 | // manual mode |
437 | dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
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438 | dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
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1612 | dongfang | 439 | } else { |
1645 | - | 440 | // use the sampled value (does not seem to work so well....) |
441 | dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
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442 | dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
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443 | dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
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1612 | dongfang | 444 | } |
445 | |||
446 | // keep resetting these meanwhile, to avoid accumulating errors. |
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447 | setStaticAttitudeIntegrals(); |
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448 | yawAngle = 0; |
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1645 | - | 449 | } |
1612 | dongfang | 450 | */ |