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Rev | Author | Line No. | Line |
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1612 | dongfang | 1 | #include <stdlib.h> |
2 | #include <avr/io.h> |
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3 | |||
4 | #include "attitude.h" |
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5 | #include "dongfangMath.h" |
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2048 | - | 6 | #include "commands.h" |
1612 | dongfang | 7 | |
1775 | - | 8 | // For scope debugging only! |
9 | #include "rc.h" |
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10 | |||
1612 | dongfang | 11 | // where our main data flow comes from. |
12 | #include "analog.h" |
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13 | |||
14 | #include "configuration.h" |
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1775 | - | 15 | #include "output.h" |
1612 | dongfang | 16 | |
17 | // Some calculations are performed depending on some stick related things. |
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18 | #include "controlMixer.h" |
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19 | |||
20 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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21 | |||
22 | /* |
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23 | * Gyro readings, as read from the analog module. It would have been nice to flow |
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24 | * them around between the different calculations as a struct or array (doing |
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25 | * things functionally without side effects) but this is shorter and probably |
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26 | * faster too. |
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27 | * The variables are overwritten at each attitude calculation invocation - the values |
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28 | * are not preserved or reused. |
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29 | */ |
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1775 | - | 30 | int16_t rate_ATT[2], yawRate; |
1612 | dongfang | 31 | |
32 | // With different (less) filtering |
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1645 | - | 33 | int16_t rate_PID[2]; |
34 | int16_t differential[2]; |
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1612 | dongfang | 35 | |
36 | /* |
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37 | * Gyro readings, after performing "axis coupling" - that is, the transfomation |
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38 | * of rotation rates from the airframe-local coordinate system to a ground-fixed |
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39 | * coordinate system. If axis copling is disabled, the gyro readings will be |
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40 | * copied into these directly. |
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41 | * These are global for the same pragmatic reason as with the gyro readings. |
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42 | * The variables are overwritten at each attitude calculation invocation - the values |
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43 | * are not preserved or reused. |
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44 | */ |
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1645 | - | 45 | int16_t ACRate[2], ACYawRate; |
1612 | dongfang | 46 | |
47 | /* |
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48 | * Gyro integrals. These are the rotation angles of the airframe compared to the |
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49 | * horizontal plane, yaw relative to yaw at start. |
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50 | */ |
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2048 | - | 51 | int32_t attitude[2]; |
1612 | dongfang | 52 | |
2048 | - | 53 | //int readingHeight = 0; |
1612 | dongfang | 54 | |
1805 | - | 55 | // Yaw angle and compass stuff. |
2051 | - | 56 | int32_t headingError; |
1805 | - | 57 | |
58 | // The difference between the above 2 (heading - course) on a -180..179 degree interval. |
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59 | // Not necessary. Never read anywhere. |
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60 | // int16_t compassOffCourse = 0; |
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61 | |||
2051 | - | 62 | uint16_t ignoreCompassTimer = 0;// 500; |
1805 | - | 63 | |
2048 | - | 64 | int32_t heading; // Yaw Gyro Integral supported by compass |
1775 | - | 65 | int16_t yawGyroDrift; |
1612 | dongfang | 66 | |
1805 | - | 67 | int16_t correctionSum[2] = { 0, 0 }; |
1612 | dongfang | 68 | |
1775 | - | 69 | // For NaviCTRL use. |
1805 | - | 70 | int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
1775 | - | 71 | |
1612 | dongfang | 72 | /* |
73 | * Experiment: Compensating for dynamic-induced gyro biasing. |
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74 | */ |
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1805 | - | 75 | int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0; |
1612 | dongfang | 76 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
77 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
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78 | // int16_t dynamicCalCount; |
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79 | |||
1980 | - | 80 | uint16_t accVector; |
81 | |||
1612 | dongfang | 82 | /************************************************************************ |
83 | * Set inclination angles from the acc. sensor data. |
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84 | * If acc. sensors are not used, set to zero. |
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85 | * TODO: One could use inverse sine to calculate the angles more |
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1616 | dongfang | 86 | * accurately, but since: 1) the angles are rather small at times when |
87 | * it makes sense to set the integrals (standing on ground, or flying at |
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1612 | dongfang | 88 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
89 | * it is hardly worth the trouble. |
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90 | ************************************************************************/ |
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91 | |||
1645 | - | 92 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
1991 | - | 93 | //int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
2048 | - | 94 | return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm; |
2032 | - | 95 | // return 342L * filteredAcc[axis]; |
1612 | dongfang | 96 | } |
97 | |||
98 | void setStaticAttitudeAngles(void) { |
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99 | #ifdef ATTITUDE_USE_ACC_SENSORS |
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2048 | - | 100 | attitude[PITCH] = getAngleEstimateFromAcc(PITCH); |
101 | attitude[ROLL] = getAngleEstimateFromAcc(ROLL); |
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1612 | dongfang | 102 | #else |
2048 | - | 103 | attitude[PITCH] = attitude[ROLL] = 0; |
1612 | dongfang | 104 | #endif |
105 | } |
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106 | |||
107 | /************************************************************************ |
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108 | * Neutral Readings |
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109 | ************************************************************************/ |
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110 | void attitude_setNeutral(void) { |
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1869 | - | 111 | // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
2032 | - | 112 | // dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0; |
1612 | dongfang | 113 | |
1869 | - | 114 | driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
115 | correctionSum[PITCH] = correctionSum[ROLL] = 0; |
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1612 | dongfang | 116 | |
1869 | - | 117 | // Calibrate hardware. |
1961 | - | 118 | analog_setNeutral(); |
1612 | dongfang | 119 | |
1869 | - | 120 | // reset gyro integrals to acc guessing |
121 | setStaticAttitudeAngles(); |
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2048 | - | 122 | attitude_resetHeadingToMagnetic(); |
1869 | - | 123 | // Servo_On(); //enable servo output |
1612 | dongfang | 124 | } |
125 | |||
126 | /************************************************************************ |
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127 | * Get sensor data from the analog module, and release the ADC |
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128 | * TODO: Ultimately, the analog module could do this (instead of dumping |
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1645 | - | 129 | * the values into variables). |
130 | * The rate variable end up in a range of about [-1024, 1023]. |
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1612 | dongfang | 131 | *************************************************************************/ |
132 | void getAnalogData(void) { |
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1869 | - | 133 | uint8_t axis; |
1612 | dongfang | 134 | |
1955 | - | 135 | analog_update(); |
136 | |||
1869 | - | 137 | for (axis = PITCH; axis <= ROLL; axis++) { |
1963 | - | 138 | rate_PID[axis] = gyro_PID[axis] + driftComp[axis]; |
139 | rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis]; |
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1869 | - | 140 | differential[axis] = gyroD[axis]; |
141 | averageAcc[axis] += acc[axis]; |
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142 | } |
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1775 | - | 143 | |
1869 | - | 144 | averageAccCount++; |
145 | yawRate = yawGyro + driftCompYaw; |
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1612 | dongfang | 146 | } |
147 | |||
148 | /* |
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149 | * This is the standard flight-style coordinate system transformation |
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150 | * (from airframe-local axes to a ground-based system). For some reason |
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151 | * the MK uses a left-hand coordinate system. The tranformation has been |
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152 | * changed accordingly. |
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153 | */ |
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154 | void trigAxisCoupling(void) { |
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2048 | - | 155 | int16_t rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL; |
156 | int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL; |
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1866 | - | 157 | |
2045 | - | 158 | int16_t cospitch = cos_360(pitchAngleInDegrees); |
159 | int16_t cosroll = cos_360(rollAngleInDegrees); |
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160 | int16_t sinroll = sin_360(rollAngleInDegrees); |
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161 | |||
2048 | - | 162 | ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll |
163 | - (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR); |
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1866 | - | 164 | |
2048 | - | 165 | ACRate[ROLL] = rate_ATT[ROLL] |
166 | + (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
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167 | >> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees)) |
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168 | >> LOG_MATH_UNIT_FACTOR); |
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1866 | - | 169 | |
2048 | - | 170 | ACYawRate = |
171 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
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172 | / cospitch; |
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1872 | - | 173 | |
2048 | - | 174 | ACYawRate = |
175 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
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176 | / cospitch; |
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1612 | dongfang | 177 | } |
178 | |||
1775 | - | 179 | // 480 usec with axis coupling - almost no time without. |
1612 | dongfang | 180 | void integrate(void) { |
1869 | - | 181 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
182 | uint8_t axis; |
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1872 | - | 183 | |
1963 | - | 184 | if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) { |
1869 | - | 185 | trigAxisCoupling(); |
186 | } else { |
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187 | ACRate[PITCH] = rate_ATT[PITCH]; |
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188 | ACRate[ROLL] = rate_ATT[ROLL]; |
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189 | ACYawRate = yawRate; |
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190 | } |
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1612 | dongfang | 191 | |
1869 | - | 192 | /* |
193 | * Yaw |
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194 | * Calculate yaw gyro integral (~ to rotation angle) |
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2048 | - | 195 | * Limit heading proportional to 0 deg to 360 deg |
1869 | - | 196 | */ |
2048 | - | 197 | heading += ACYawRate; |
198 | intervalWrap(&heading, YAWOVER360); |
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2051 | - | 199 | |
200 | headingError += ACYawRate; |
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201 | |||
202 | debugOut.analog[27] = heading / 100; |
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203 | |||
1869 | - | 204 | /* |
205 | * Pitch axis integration and range boundary wrap. |
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206 | */ |
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207 | for (axis = PITCH; axis <= ROLL; axis++) { |
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2048 | - | 208 | attitude[axis] += ACRate[axis]; |
209 | if (attitude[axis] > PITCHROLLOVER180) { |
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210 | attitude[axis] -= PITCHROLLOVER360; |
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211 | } else if (attitude[axis] <= -PITCHROLLOVER180) { |
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212 | attitude[axis] += PITCHROLLOVER360; |
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1869 | - | 213 | } |
214 | } |
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1612 | dongfang | 215 | } |
216 | |||
217 | /************************************************************************ |
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218 | * A kind of 0'th order integral correction, that corrects the integrals |
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219 | * directly. This is the "gyroAccFactor" stuff in the original code. |
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1646 | - | 220 | * There is (there) also a drift compensation |
1612 | dongfang | 221 | * - it corrects the differential of the integral = the gyro offsets. |
222 | * That should only be necessary with drifty gyros like ENC-03. |
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223 | ************************************************************************/ |
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224 | void correctIntegralsByAcc0thOrder(void) { |
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1869 | - | 225 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
226 | // are less than ....., or reintroduce Kalman. |
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227 | // Well actually the Z axis acc. check is not so silly. |
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228 | uint8_t axis; |
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229 | int32_t temp; |
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1908 | - | 230 | |
1988 | - | 231 | uint8_t ca = controlActivity >> 8; |
232 | uint8_t highControlActivity = (ca > staticParams.maxControlActivity); |
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233 | |||
2048 | - | 234 | if (highControlActivity) { |
235 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
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236 | } else { |
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237 | debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
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238 | } |
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1988 | - | 239 | |
1980 | - | 240 | if (accVector <= dynamicParams.maxAccVector) { |
2048 | - | 241 | debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
242 | |||
1960 | - | 243 | uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
1869 | - | 244 | int32_t accDerived; |
1612 | dongfang | 245 | |
1908 | - | 246 | /* |
2048 | - | 247 | if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
248 | permilleAcc /= 2; |
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249 | debugFullWeight = 0; |
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250 | } |
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1953 | - | 251 | |
2048 | - | 252 | if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
253 | permilleAcc /= 2; |
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254 | debugFullWeight = 0; |
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255 | */ |
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1953 | - | 256 | |
1988 | - | 257 | if (highControlActivity) { // reduce effect during stick control activity |
1908 | - | 258 | permilleAcc /= 4; |
2048 | - | 259 | if (controlActivity > staticParams.maxControlActivity * 2) { // reduce effect during stick control activity |
1908 | - | 260 | permilleAcc /= 4; |
261 | } |
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2048 | - | 262 | } |
1775 | - | 263 | |
1869 | - | 264 | /* |
265 | * Add to each sum: The amount by which the angle is changed just below. |
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266 | */ |
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267 | for (axis = PITCH; axis <= ROLL; axis++) { |
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268 | accDerived = getAngleEstimateFromAcc(axis); |
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2033 | - | 269 | debugOut.analog[9 + axis] = accDerived / (GYRO_DEG_FACTOR_PITCHROLL / 10); |
1869 | - | 270 | // 1000 * the correction amount that will be added to the gyro angle in next line. |
2048 | - | 271 | temp = attitude[axis]; |
272 | attitude[axis] = ((int32_t) (1000L - permilleAcc) * temp |
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1869 | - | 273 | + (int32_t) permilleAcc * accDerived) / 1000L; |
2048 | - | 274 | correctionSum[axis] += attitude[axis] - temp; |
1869 | - | 275 | } |
276 | } else { |
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2033 | - | 277 | debugOut.analog[9] = 0; |
278 | debugOut.analog[10] = 0; |
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1869 | - | 279 | // experiment: Kill drift compensation updates when not flying smooth. |
1963 | - | 280 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
2017 | - | 281 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
1869 | - | 282 | } |
1612 | dongfang | 283 | } |
284 | |||
285 | /************************************************************************ |
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286 | * This is an attempt to correct not the error in the angle integrals |
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287 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
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288 | * cause of it: Gyro drift, vibration and rounding errors. |
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289 | * All the corrections made in correctIntegralsByAcc0thOrder over |
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1646 | - | 290 | * DRIFTCORRECTION_TIME cycles are summed up. This number is |
291 | * then divided by DRIFTCORRECTION_TIME to get the approx. |
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1612 | dongfang | 292 | * correction that should have been applied to each iteration to fix |
293 | * the error. This is then added to the dynamic offsets. |
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294 | ************************************************************************/ |
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1646 | - | 295 | // 2 times / sec. = 488/2 |
296 | #define DRIFTCORRECTION_TIME 256L |
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297 | void driftCorrection(void) { |
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1869 | - | 298 | static int16_t timer = DRIFTCORRECTION_TIME; |
299 | int16_t deltaCorrection; |
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1872 | - | 300 | int16_t round; |
1869 | - | 301 | uint8_t axis; |
1872 | - | 302 | |
1869 | - | 303 | if (!--timer) { |
304 | timer = DRIFTCORRECTION_TIME; |
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305 | for (axis = PITCH; axis <= ROLL; axis++) { |
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306 | // Take the sum of corrections applied, add it to delta |
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2048 | - | 307 | if (correctionSum[axis] >= 0) |
1872 | - | 308 | round = DRIFTCORRECTION_TIME / 2; |
309 | else |
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310 | round = -DRIFTCORRECTION_TIME / 2; |
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311 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
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1869 | - | 312 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
1960 | - | 313 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
314 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
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1869 | - | 315 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
1955 | - | 316 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
2035 | - | 317 | // debugOut.analog[28 + axis] = driftComp[axis]; |
1869 | - | 318 | correctionSum[axis] = 0; |
319 | } |
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320 | } |
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1612 | dongfang | 321 | } |
322 | |||
1980 | - | 323 | void calculateAccVector(void) { |
2048 | - | 324 | int16_t temp; |
325 | temp = filteredAcc[0] >> 3; |
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326 | accVector = temp * temp; |
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327 | temp = filteredAcc[1] >> 3; |
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328 | accVector += temp * temp; |
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329 | temp = filteredAcc[2] >> 3; |
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330 | accVector += temp * temp; |
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331 | //debugOut.analog[18] = accVector; |
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1980 | - | 332 | } |
333 | |||
2048 | - | 334 | void attitude_resetHeadingToMagnetic(void) { |
335 | if (commands_isCalibratingCompass()) |
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336 | return; |
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337 | |||
338 | // Compass is off, skip. |
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339 | if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE)) |
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340 | return; |
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341 | |||
342 | // Compass is invalid, skip. |
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343 | if (magneticHeading < 0) |
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344 | return; |
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345 | |||
346 | heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
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2051 | - | 347 | //targetHeading = heading; |
348 | headingError = 0; |
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2048 | - | 349 | |
350 | debugOut.digital[0] ^= DEBUG_COMPASS; |
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351 | } |
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352 | |||
353 | void correctHeadingToMagnetic(void) { |
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354 | int32_t error; |
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355 | |||
2051 | - | 356 | if (commands_isCalibratingCompass()) { |
357 | debugOut.analog[29] = 1; |
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2048 | - | 358 | return; |
2051 | - | 359 | } |
2048 | - | 360 | |
361 | // Compass is off, skip. |
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362 | // Naaah this is assumed. |
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363 | // if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE)) |
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364 | // return; |
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365 | |||
366 | // Compass is invalid, skip. |
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2051 | - | 367 | if (magneticHeading < 0) { |
368 | debugOut.analog[29] = 2; |
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2048 | - | 369 | return; |
2051 | - | 370 | } |
2048 | - | 371 | |
372 | // Spinning fast, skip |
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2051 | - | 373 | if (abs(yawRate) > 128) { |
374 | debugOut.analog[29] = 3; |
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2048 | - | 375 | return; |
2051 | - | 376 | } |
2048 | - | 377 | |
378 | // Otherwise invalidated, skip |
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379 | if (ignoreCompassTimer) { |
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380 | ignoreCompassTimer--; |
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2051 | - | 381 | debugOut.analog[29] = 4; |
2048 | - | 382 | return; |
383 | } |
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384 | |||
385 | // TODO: Find computational cost of this. |
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2051 | - | 386 | error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading); |
387 | if (error <= -YAWOVER180) error += YAWOVER360; |
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388 | else if (error > YAWOVER180) error -= YAWOVER360; |
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2048 | - | 389 | |
390 | // We only correct errors larger than the resolution of the compass, or else we would keep rounding the |
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391 | // better resolution of the gyros to the worse resolution of the compass all the time. |
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392 | // The correction should really only serve to compensate for gyro drift. |
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393 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
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394 | |||
2051 | - | 395 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
396 | debugOut.analog[30] = correction; |
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2048 | - | 397 | |
398 | // The correction is added both to current heading (the direction in which the copter thinks it is pointing) |
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399 | // and to the target heading (the direction to which it maneuvers to point). That means, this correction has |
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400 | // no effect on control at all!!! It only has effect on the values of the two variables. However, these values |
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401 | // could have effect on control elsewhere, like in compassControl.c . |
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402 | heading += correction; |
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403 | intervalWrap(&heading, YAWOVER360); |
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404 | |||
2051 | - | 405 | // If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all |
406 | // when the compass corrects the heading - it only corrects numbers!) we want to add: |
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407 | // This will however cause drift to remain uncorrected! |
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408 | // headingError += correction; |
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409 | debugOut.analog[29] = 0; |
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2048 | - | 410 | } |
411 | |||
1612 | dongfang | 412 | /************************************************************************ |
413 | * Main procedure. |
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414 | ************************************************************************/ |
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1805 | - | 415 | void calculateFlightAttitude(void) { |
1869 | - | 416 | getAnalogData(); |
1980 | - | 417 | calculateAccVector(); |
1869 | - | 418 | integrate(); |
1775 | - | 419 | |
1612 | dongfang | 420 | #ifdef ATTITUDE_USE_ACC_SENSORS |
1869 | - | 421 | correctIntegralsByAcc0thOrder(); |
422 | driftCorrection(); |
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1612 | dongfang | 423 | #endif |
2015 | - | 424 | |
425 | // We are done reading variables from the analog module. |
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426 | // Interrupt-driven sensor reading may restart. |
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427 | startAnalogConversionCycle(); |
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1612 | dongfang | 428 | |
2048 | - | 429 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
430 | correctHeadingToMagnetic(); |
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1869 | - | 431 | } |
1775 | - | 432 | } |
1612 | dongfang | 433 | |
434 | /* |
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435 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
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436 | * and to compensate them away. It brings about some improvement, but no miracles. |
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437 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
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438 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
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439 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
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440 | * speed unfortunately... must find a better way) |
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441 | */ |
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442 | /* |
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1805 | - | 443 | void attitude_startDynamicCalibration(void) { |
444 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
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445 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
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446 | } |
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1612 | dongfang | 447 | |
1805 | - | 448 | void attitude_continueDynamicCalibration(void) { |
449 | // measure dynamic offset now... |
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450 | dynamicCalPitch += hiResPitchGyro; |
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451 | dynamicCalRoll += hiResRollGyro; |
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452 | dynamicCalYaw += rawYawGyroSum; |
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453 | dynamicCalCount++; |
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454 | |||
455 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
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456 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
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457 | // manual mode |
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458 | driftCompPitch = dynamicParams.UserParam7 - 128; |
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459 | driftCompRoll = dynamicParams.UserParam8 - 128; |
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460 | } else { |
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461 | // use the sampled value (does not seem to work so well....) |
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462 | driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
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463 | driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
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464 | driftCompYaw = -dynamicCalYaw / dynamicCalCount; |
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465 | } |
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466 | |||
467 | // keep resetting these meanwhile, to avoid accumulating errors. |
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468 | setStaticAttitudeIntegrals(); |
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469 | yawAngle = 0; |
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470 | } |
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471 | */ |