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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + 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
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
1868 - 35
// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1612 dongfang 36
// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     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"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  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
49
// +  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
 
1775 - 62
// For scope debugging only!
63
#include "rc.h"
64
 
1612 dongfang 65
// where our main data flow comes from.
66
#include "analog.h"
67
 
68
#include "configuration.h"
1775 - 69
#include "output.h"
1612 dongfang 70
 
71
// Some calculations are performed depending on some stick related things.
72
#include "controlMixer.h"
73
 
74
// For Servo_On / Off
75
// #include "timer2.h"
76
 
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
 */
1775 - 87
int16_t rate_ATT[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
 */
1775 - 108
int32_t angle[2], yawAngleDiff;
1612 dongfang 109
 
110
int readingHeight = 0;
111
 
1805 - 112
// Yaw angle and compass stuff.
113
 
114
// This is updated/written from MM3. Negative angle indicates invalid data.
115
int16_t compassHeading = -1;
116
 
117
// This is NOT updated from MM3. Negative angle indicates invalid data.
118
int16_t compassCourse = -1;
119
 
120
// The difference between the above 2 (heading - course) on a -180..179 degree interval.
121
// Not necessary. Never read anywhere.
122
// int16_t compassOffCourse = 0;
123
 
124
uint8_t updateCompassCourse = 0;
125
uint8_t compassCalState = 0;
126
uint16_t ignoreCompassTimer = 500;
127
 
1612 dongfang 128
int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass
1775 - 129
int16_t yawGyroDrift;
1612 dongfang 130
 
1616 dongfang 131
#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
132
#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
133
#define YAWOVER360       (GYRO_DEG_FACTOR_YAW * 360L)
1612 dongfang 134
 
1805 - 135
int16_t correctionSum[2] = { 0, 0 };
1612 dongfang 136
 
1775 - 137
// For NaviCTRL use.
1805 - 138
int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0;
1775 - 139
 
1612 dongfang 140
/*
141
 * Experiment: Compensating for dynamic-induced gyro biasing.
142
 */
1805 - 143
int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0;
1612 dongfang 144
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
145
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
146
// int16_t dynamicCalCount;
147
 
148
/************************************************************************
149
 * Set inclination angles from the acc. sensor data.                    
150
 * If acc. sensors are not used, set to zero.                          
151
 * TODO: One could use inverse sine to calculate the angles more        
1616 dongfang 152
 * accurately, but since: 1) the angles are rather small at times when
153
 * it makes sense to set the integrals (standing on ground, or flying at  
1612 dongfang 154
 * constant speed, and 2) at small angles a, sin(a) ~= constant * a,    
155
 * it is hardly worth the trouble.                                      
156
 ************************************************************************/
157
 
1645 - 158
int32_t getAngleEstimateFromAcc(uint8_t axis) {
1869 - 159
  return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis];
1612 dongfang 160
}
161
 
162
void setStaticAttitudeAngles(void) {
163
#ifdef ATTITUDE_USE_ACC_SENSORS
1869 - 164
  angle[PITCH] = getAngleEstimateFromAcc(PITCH);
165
  angle[ROLL] = getAngleEstimateFromAcc(ROLL);
1612 dongfang 166
#else
1869 - 167
  angle[PITCH] = angle[ROLL] = 0;
1612 dongfang 168
#endif
169
}
170
 
171
/************************************************************************
172
 * Neutral Readings                                                    
173
 ************************************************************************/
174
void attitude_setNeutral(void) {
1869 - 175
  // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
176
  dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;
1612 dongfang 177
 
1869 - 178
  driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;
179
  correctionSum[PITCH] = correctionSum[ROLL] = 0;
1612 dongfang 180
 
1869 - 181
  // Calibrate hardware.
182
  analog_calibrate();
1612 dongfang 183
 
1869 - 184
  // reset gyro integrals to acc guessing
185
  setStaticAttitudeAngles();
186
  yawAngleDiff = 0;
1612 dongfang 187
 
1869 - 188
  // update compass course to current heading
189
  compassCourse = compassHeading;
1805 - 190
 
1869 - 191
  // Inititialize YawGyroIntegral value with current compass heading
192
  yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW;
1805 - 193
 
1869 - 194
  // Servo_On(); //enable servo output
1612 dongfang 195
}
196
 
197
/************************************************************************
198
 * Get sensor data from the analog module, and release the ADC          
199
 * TODO: Ultimately, the analog module could do this (instead of dumping
1645 - 200
 * the values into variables).
201
 * The rate variable end up in a range of about [-1024, 1023].
1612 dongfang 202
 *************************************************************************/
203
void getAnalogData(void) {
1869 - 204
  uint8_t axis;
1612 dongfang 205
 
1869 - 206
  for (axis = PITCH; axis <= ROLL; axis++) {
1874 - 207
    rate_PID[axis] = gyro_PID[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis];
208
    rate_ATT[axis] = gyro_ATT[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis];
1869 - 209
    differential[axis] = gyroD[axis];
210
    averageAcc[axis] += acc[axis];
211
  }
1775 - 212
 
1869 - 213
  averageAccCount++;
214
  yawRate = yawGyro + driftCompYaw;
1805 - 215
 
1869 - 216
  // We are done reading variables from the analog module.
217
  // Interrupt-driven sensor reading may restart.
218
  analogDataReady = 0;
219
  analog_start();
1612 dongfang 220
}
221
 
222
/*
223
 * This is the standard flight-style coordinate system transformation
224
 * (from airframe-local axes to a ground-based system). For some reason
225
 * the MK uses a left-hand coordinate system. The tranformation has been
226
 * changed accordingly.
227
 */
228
void trigAxisCoupling(void) {
1869 - 229
  int16_t cospitch = int_cos(angle[PITCH]);
230
  int16_t cosroll = int_cos(angle[ROLL]);
231
  int16_t sinroll = int_sin(angle[ROLL]);
1866 - 232
 
1870 - 233
  ACRate[PITCH] = (((int32_t)rate_ATT[PITCH] * cosroll - (int32_t)yawRate
1869 - 234
      * sinroll) >> MATH_UNIT_FACTOR_LOG);
1866 - 235
 
1870 - 236
  ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll
237
      + (int32_t)yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * int_tan(
1869 - 238
      angle[PITCH])) >> MATH_UNIT_FACTOR_LOG);
1866 - 239
 
1870 - 240
  ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch;
1872 - 241
 
242
  ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch;
1612 dongfang 243
}
244
 
1775 - 245
// 480 usec with axis coupling - almost no time without.
1612 dongfang 246
void integrate(void) {
1869 - 247
  // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
248
  uint8_t axis;
1872 - 249
 
1869 - 250
  if (!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {
251
    trigAxisCoupling();
252
  } else {
253
    ACRate[PITCH] = rate_ATT[PITCH];
254
    ACRate[ROLL] = rate_ATT[ROLL];
255
    ACYawRate = yawRate;
256
  }
1612 dongfang 257
 
1869 - 258
  /*
259
   * Yaw
260
   * Calculate yaw gyro integral (~ to rotation angle)
261
   * Limit yawGyroHeading proportional to 0 deg to 360 deg
262
   */
263
  yawGyroHeading += ACYawRate;
264
  yawAngleDiff += yawRate;
1612 dongfang 265
 
1869 - 266
  if (yawGyroHeading >= YAWOVER360) {
267
    yawGyroHeading -= YAWOVER360; // 360 deg. wrap
268
  } else if (yawGyroHeading < 0) {
269
    yawGyroHeading += YAWOVER360;
270
  }
1805 - 271
 
1869 - 272
  /*
273
   * Pitch axis integration and range boundary wrap.
274
   */
275
  for (axis = PITCH; axis <= ROLL; axis++) {
276
    angle[axis] += ACRate[axis];
277
    if (angle[axis] > PITCHROLLOVER180) {
278
      angle[axis] -= PITCHROLLOVER360;
279
    } else if (angle[axis] <= -PITCHROLLOVER180) {
280
      angle[axis] += PITCHROLLOVER360;
281
    }
282
  }
1612 dongfang 283
}
284
 
285
/************************************************************************
286
 * A kind of 0'th order integral correction, that corrects the integrals
287
 * directly. This is the "gyroAccFactor" stuff in the original code.
1646 - 288
 * There is (there) also a drift compensation
1612 dongfang 289
 * - it corrects the differential of the integral = the gyro offsets.
290
 * That should only be necessary with drifty gyros like ENC-03.
291
 ************************************************************************/
292
void correctIntegralsByAcc0thOrder(void) {
1869 - 293
  // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
294
  // are less than ....., or reintroduce Kalman.
295
  // Well actually the Z axis acc. check is not so silly.
296
  uint8_t axis;
297
  int32_t temp;
1908 - 298
  DebugOut.Digital[0] &= ~DEBUG_ACC0THORDER;
299
  DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
300
 
1869 - 301
  if (!looping && acc[Z] >= -dynamicParams.UserParams[7] && acc[Z]
302
      <= dynamicParams.UserParams[7]) {
1775 - 303
 
1869 - 304
    uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
305
    int32_t accDerived;
1612 dongfang 306
 
1908 - 307
    /*
1869 - 308
    if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active
309
      permilleAcc /= 2;
310
      debugFullWeight = 0;
311
    }
1908 - 312
    */
313
    if (controlActivity > 10000) { // reduce effect during stick commands
314
      permilleAcc /= 4;
315
      DebugOut.Digital[0] |= DEBUG_ACC0THORDER;
316
      if (controlActivity > 20000) { // reduce effect during stick commands
317
        permilleAcc /= 4;
318
        DebugOut.Digital[1] |= DEBUG_ACC0THORDER;
319
      }
1869 - 320
    }
1775 - 321
 
1869 - 322
    /*
323
     * Add to each sum: The amount by which the angle is changed just below.
324
     */
325
    for (axis = PITCH; axis <= ROLL; axis++) {
326
      accDerived = getAngleEstimateFromAcc(axis);
327
      DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
1805 - 328
 
1869 - 329
      // 1000 * the correction amount that will be added to the gyro angle in next line.
330
      temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
331
      angle[axis] = ((int32_t) (1000L - permilleAcc) * temp
332
          + (int32_t) permilleAcc * accDerived) / 1000L;
333
      correctionSum[axis] += angle[axis] - temp;
334
    }
335
  } else {
336
    DebugOut.Analog[9] = 0;
337
    DebugOut.Analog[10] = 0;
1805 - 338
 
1869 - 339
    DebugOut.Analog[16] = 0;
340
    DebugOut.Analog[17] = 0;
341
    // experiment: Kill drift compensation updates when not flying smooth.
342
    correctionSum[PITCH] = correctionSum[ROLL] = 0;
343
  }
1612 dongfang 344
}
345
 
346
/************************************************************************
347
 * This is an attempt to correct not the error in the angle integrals
348
 * (that happens in correctIntegralsByAcc0thOrder above) but rather the
349
 * cause of it: Gyro drift, vibration and rounding errors.
350
 * All the corrections made in correctIntegralsByAcc0thOrder over
1646 - 351
 * DRIFTCORRECTION_TIME cycles are summed up. This number is
352
 * then divided by DRIFTCORRECTION_TIME to get the approx.
1612 dongfang 353
 * correction that should have been applied to each iteration to fix
354
 * the error. This is then added to the dynamic offsets.
355
 ************************************************************************/
1646 - 356
// 2 times / sec. = 488/2
357
#define DRIFTCORRECTION_TIME 256L
358
void driftCorrection(void) {
1869 - 359
  static int16_t timer = DRIFTCORRECTION_TIME;
360
  int16_t deltaCorrection;
1872 - 361
  int16_t round;
1869 - 362
  uint8_t axis;
1872 - 363
 
1869 - 364
  if (!--timer) {
365
    timer = DRIFTCORRECTION_TIME;
366
    for (axis = PITCH; axis <= ROLL; axis++) {
367
      // Take the sum of corrections applied, add it to delta
1872 - 368
      if (correctionSum[axis] >=0)
369
        round = DRIFTCORRECTION_TIME / 2;
370
      else
371
        round = -DRIFTCORRECTION_TIME / 2;
372
      deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;
1869 - 373
      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
374
      driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;
375
      CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);
376
      // DebugOut.Analog[11 + axis] = correctionSum[axis];
377
      DebugOut.Analog[16 + axis] = correctionSum[axis];
378
      DebugOut.Analog[28 + axis] = driftComp[axis];
1775 - 379
 
1869 - 380
      correctionSum[axis] = 0;
381
    }
382
  }
1612 dongfang 383
}
384
 
385
/************************************************************************
386
 * Main procedure.
387
 ************************************************************************/
1805 - 388
void calculateFlightAttitude(void) {
1869 - 389
  getAnalogData();
390
  integrate();
1775 - 391
 
1869 - 392
  DebugOut.Analog[3] = rate_PID[PITCH];
393
  DebugOut.Analog[4] = rate_PID[ROLL];
394
  DebugOut.Analog[5] = yawRate;
1805 - 395
 
1612 dongfang 396
#ifdef ATTITUDE_USE_ACC_SENSORS
1869 - 397
  correctIntegralsByAcc0thOrder();
398
  driftCorrection();
1612 dongfang 399
#endif
400
}
401
 
1775 - 402
void updateCompass(void) {
1869 - 403
  int16_t w, v, r, correction, error;
1805 - 404
 
1869 - 405
  if (compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {
406
    if (controlMixer_testCompassCalState()) {
407
      compassCalState++;
408
      if (compassCalState < 5)
409
        beepNumber(compassCalState);
410
      else
411
        beep(1000);
412
    }
413
  } else {
414
    // get maximum attitude angle
415
    w = abs(angle[PITCH] / 512);
416
    v = abs(angle[ROLL] / 512);
417
    if (v > w)
418
      w = v;
419
    correction = w / 8 + 1;
420
    // calculate the deviation of the yaw gyro heading and the compass heading
421
    if (compassHeading < 0)
422
      error = 0; // disable yaw drift compensation if compass heading is undefined
423
    else if (abs(yawRate) > 128) { // spinning fast
424
      error = 0;
425
    } else {
426
      // compassHeading - yawGyroHeading, on a -180..179 deg interval.
427
      error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW))
428
          % 360) - 180;
429
    }
430
    if (!ignoreCompassTimer && w < 25) {
431
      yawGyroDrift += error;
432
      // Basically this gets set if we are in "fix" mode, and when starting.
433
      if (updateCompassCourse) {
434
        beep(200);
435
        yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW;
436
        compassCourse = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
437
        updateCompassCourse = 0;
438
      }
439
    }
440
    yawGyroHeading += (error * 8) / correction;
1805 - 441
 
1869 - 442
    /*
443
     w = (w * dynamicParams.CompassYawEffect) / 32;
444
     w = dynamicParams.CompassYawEffect - w;
445
     */
446
    w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect)
447
        / 32;
1805 - 448
 
1869 - 449
    // As readable formula:
450
    // w = dynamicParams.CompassYawEffect * (1-w/32);
1805 - 451
 
1869 - 452
    if (w >= 0) { // maxAttitudeAngle < 32
453
      if (!ignoreCompassTimer) {
1908 - 454
        /*v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;*/
455
        v = 64 + controlActivity / 100;
1869 - 456
        // yawGyroHeading - compassCourse on a -180..179 degree interval.
457
        r
458
            = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse)
459
                % 360) - 180;
460
        v = (r * w) / v; // align to compass course
461
        // limit yaw rate
462
        w = 3 * dynamicParams.CompassYawEffect;
463
        if (v > w)
464
          v = w;
465
        else if (v < -w)
466
          v = -w;
467
        yawAngleDiff += v;
468
      } else { // wait a while
469
        ignoreCompassTimer--;
470
      }
471
    } else { // ignore compass at extreme attitudes for a while
472
      ignoreCompassTimer = 500;
473
    }
474
  }
1775 - 475
}
1612 dongfang 476
 
477
/*
478
 * This is part of an experiment to measure average sensor offsets caused by motor vibration,
479
 * and to compensate them away. It brings about some improvement, but no miracles.
480
 * As long as the left stick is kept in the start-motors position, the dynamic compensation
481
 * will measure the effect of vibration, to use for later compensation. So, one should keep
482
 * the stick in the start-motors position for a few seconds, till all motors run (at the wrong
483
 * speed unfortunately... must find a better way)
484
 */
485
/*
1805 - 486
 void attitude_startDynamicCalibration(void) {
487
 dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
488
 savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
489
 }
1612 dongfang 490
 
1805 - 491
 void attitude_continueDynamicCalibration(void) {
492
 // measure dynamic offset now...
493
 dynamicCalPitch += hiResPitchGyro;
494
 dynamicCalRoll += hiResRollGyro;
495
 dynamicCalYaw += rawYawGyroSum;
496
 dynamicCalCount++;
497
 
498
 // Param6: Manual mode. The offsets are taken from Param7 and Param8.
499
 if (dynamicParams.UserParam6 || 1) { // currently always enabled.
500
 // manual mode
501
 driftCompPitch = dynamicParams.UserParam7 - 128;
502
 driftCompRoll = dynamicParams.UserParam8 - 128;
503
 } else {
504
 // use the sampled value (does not seem to work so well....)
505
 driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
506
 driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
507
 driftCompYaw = -dynamicCalYaw / dynamicCalCount;
508
 }
509
 
510
 // keep resetting these meanwhile, to avoid accumulating errors.
511
 setStaticAttitudeIntegrals();
512
 yawAngle = 0;
513
 }
514
 */