/branches/dongfang_FC_rewrite/ADXRS610_FC2.0.c |
---|
12,7 → 12,7 |
IMUConfig.accQuadrant = 4; |
IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_XY; |
staticParams.gyroD = 5; |
IMUConfig.driftCompDivider = 1; |
IMUConfig.driftCompDivider = 2; |
IMUConfig.driftCompLimit = 3; |
IMUConfig.zerothOrderCorrection = 1; |
IMUConfig.zerothOrderCorrection = 3; |
} |
/branches/dongfang_FC_rewrite/analog.c |
---|
306,17 → 306,24 |
} |
void measureGyroActivity(int16_t newValue) { |
gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
gyroActivity += newValue * newValue; |
// abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
} |
#define GADAMPING 6 |
void dampenGyroActivity(void) { |
static uint8_t cnt = 0; |
if (++cnt >= IMUConfig.gyroActivityDamping) { |
cnt = 0; |
gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
gyroActivity >>= GADAMPING; |
} |
/* |
if (gyroActivity >= 10) gyroActivity -= 10; |
else if (gyroActivity <=- 10) gyroActivity += 10; |
*/ |
} |
void analog_updateGyros(void) { |
469,8 → 476,8 |
// Even if the sample is off-range, use it. |
simpleAirPressure = getSimplePressure(rawAirPressure); |
debugOut.analog[6] = rawAirPressure; |
debugOut.analog[7] = simpleAirPressure; |
// debugOut.analog[6] = rawAirPressure; |
// debugOut.analog[7] = simpleAirPressure; |
if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
// Danger: pressure near lower end of range. If the measurement saturates, the |
/branches/dongfang_FC_rewrite/attitude.c |
---|
228,19 → 228,17 |
uint8_t axis; |
int32_t temp; |
debugOut.analog[13] = gyroActivity / 65536L; |
debugOut.analog[12] = IMUConfig.zerothOrderCorrection; |
uint16_t ca; |
ca = gyroActivity >> 12; |
debugOut.analog[14] = ca; |
uint16_t ca = gyroActivity >> 14; |
uint8_t gyroActivityWeighted = ca / IMUConfig.rateTolerance; |
debugOut.analog[15] = gyroActivityWeighted; |
uint8_t gyroActivityWeighted = ca / IMUConfig.rateTolerance; |
if (!gyroActivityWeighted) gyroActivityWeighted = 1; |
uint8_t accPart = IMUConfig.zerothOrderCorrection / gyroActivityWeighted; |
debugOut.analog[28] = IMUConfig.rateTolerance; |
debugOut.analog[15] = gyroActivityWeighted; |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
295,8 → 293,8 |
driftComp[axis] += deltaCorrection / IMUConfig.driftCompDivider; |
CHECK_MIN_MAX(driftComp[axis], -IMUConfig.driftCompLimit, IMUConfig.driftCompLimit); |
// DebugOut.Analog[11 + axis] = correctionSum[axis]; |
// DebugOut.Analog[16 + axis] = correctionSum[axis]; |
// debugOut.analog[28 + axis] = driftComp[axis]; |
debugOut.analog[6 + axis] = correctionSum[axis]; |
debugOut.analog[13 + axis] = driftComp[axis]; |
correctionSum[axis] = 0; |
} |
} |
/branches/dongfang_FC_rewrite/attitude.h |
---|
73,7 → 73,7 |
* sin v = acc / sqrt(acc^2 + acc_z^2) |
* Using that v is a small angle, and the near side is about equal to the the hypothenusis: |
* sin v ~= acc / acc_z |
* Assuming that the helicopter is hovering at small pitch and roll angles, acc_z is about 410, |
* Assuming that the multicopter is hovering at small pitch and roll angles, acc_z is about 410, |
* and sin v ~= v (small angles, in radians): |
* sin v ~= acc / 410 |
* v / 57.3 ~= acc / 410 |
/branches/dongfang_FC_rewrite/configuration.c |
---|
71,8 → 71,12 |
} |
void setCPUType(void) { // works only after reset or power on when the registers have default values |
#if (MCU_TYPE==atmega644) |
CPUType=ATMEGA644; |
#else |
if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
else CPUType = ATMEGA644; |
#endif |
} |
/* |
245,7 → 249,8 |
motorMixer.matrix[i][MIX_YAW] = 0; |
motorMixer.matrix[i][MIX_OPPOSITE_MOTOR] = (uint8_t)-1; |
} |
// default = Quadro |
/* |
// default = Quadro+ |
motorMixer.matrix[0][MIX_PITCH] = +64; |
motorMixer.matrix[0][MIX_YAW] = +64; |
motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1; |
263,27 → 268,30 |
motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2; |
memcpy(motorMixer.name, "Quadro +\0", 9); |
*/ |
/* |
// default = X |
mixerMatrix.motor[0][MIX_PITCH] = +45; |
mixerMatrix.motor[0][MIX_ROLL] = +45; |
mixerMatrix.motor[0][MIX_YAW] = +64; |
// default = Quadro |
motorMixer.matrix[0][MIX_PITCH] = +64; |
motorMixer.matrix[0][MIX_ROLL] = +64; |
motorMixer.matrix[0][MIX_YAW] = +64; |
motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1; |
mixerMatrix.motor[1][MIX_PITCH] = -45; |
mixerMatrix.motor[1][MIX_ROLL] = -45; |
mixerMatrix.motor[1][MIX_YAW] = +64; |
motorMixer.matrix[1][MIX_PITCH] = -64; |
motorMixer.matrix[1][MIX_ROLL] = -64; |
motorMixer.matrix[1][MIX_YAW] = +64; |
motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0; |
mixerMatrix.motor[2][MIX_PITCH] = +45; |
mixerMatrix.motor[2][MIX_ROLL] = -45; |
mixerMatrix.motor[2][MIX_YAW] = -64; |
motorMixer.matrix[2][MIX_PITCH] = +64; |
motorMixer.matrix[2][MIX_ROLL] = -64; |
motorMixer.matrix[2][MIX_YAW] = -64; |
motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3; |
mixerMatrix.motor[3][MIX_PITCH] = -45; |
mixerMatrix.motor[3][MIX_ROLL] = +45; |
mixerMatrix.motor[3][MIX_YAW] = -64; |
motorMixer.matrix[3][MIX_PITCH] = -64; |
motorMixer.matrix[3][MIX_ROLL] = +64; |
motorMixer.matrix[3][MIX_YAW] = -64; |
motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2; |
memcpy(motorMixer.name, "Quadro X\0", 9); |
*/ |
} |
/***************************************************/ |
290,6 → 298,7 |
/* Default Values for R/C Channels */ |
/***************************************************/ |
void channelMap_default(void) { |
channelMap.RCPolarity = 1; |
channelMap.channels[CH_PITCH] = 1; |
channelMap.channels[CH_ROLL] = 0; |
channelMap.channels[CH_THROTTLE] = 2; |
/branches/dongfang_FC_rewrite/configuration.h |
---|
84,10 → 84,12 |
*/ |
typedef struct { |
uint8_t trim; |
uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
uint8_t HWTrim; |
uint8_t variableOffset; |
uint8_t channels[MAX_CHANNELS]; |
uint8_t channels[MAX_CHANNELS]; |
} ChannelMap_t; |
extern ChannelMap_t channelMap; |
typedef struct { |
/branches/dongfang_FC_rewrite/directGPSNaviControl.c |
---|
431,9 → 431,11 |
PRTY[CONTROL_PITCH] += naviSticks[CONTROL_PITCH]; |
PRTY[CONTROL_ROLL] += naviSticks[CONTROL_ROLL]; |
debugOut.analog[16] = flightMode; |
debugOut.analog[17] = naviStatus; |
//debugOut.analog[16] = flightMode; |
//debugOut.analog[17] = naviStatus; |
/* |
debugOut.analog[18] = naviSticks[CONTROL_PITCH]; |
debugOut.analog[19] = naviSticks[CONTROL_ROLL]; |
*/ |
} |
/branches/dongfang_FC_rewrite/flight.c |
---|
250,16 → 250,21 |
debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
debugOut.analog[16] = acc[PITCH]; |
debugOut.analog[17] = acc[ROLL]; |
debugOut.analog[3] = rate_ATT[PITCH]; |
debugOut.analog[4] = rate_ATT[ROLL]; |
debugOut.analog[5] = yawRate; |
} |
/* |
debugOut.analog[6] = term[PITCH]; |
debugOut.analog[7] = term[ROLL]; |
debugOut.analog[8] = yawTerm; |
debugOut.analog[9] = throttleTerm; |
*/ |
//debugOut.analog[16] = gyroActivity; |
for (i = 0; i < MAX_MOTORS; i++) { |
int32_t tmp; |
uint8_t throttle; |
/branches/dongfang_FC_rewrite/heightControl.c |
---|
176,9 → 176,9 |
int16_t dThrottleP = (heightError * dynamicParams.heightP) >> LOG_PHEIGHT_SCALE; |
int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
debugOut.analog[10] = dThrottleP; |
debugOut.analog[11] = dThrottleI; |
debugOut.analog[12] = dThrottleD; |
//debugOut.analog[10] = dThrottleP; |
//debugOut.analog[11] = dThrottleI; |
//debugOut.analog[12] = dThrottleD; |
//debugOut.analog[13] = heightError/10; |
int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |
/branches/dongfang_FC_rewrite/makefile |
---|
1,6 → 1,6 |
#-------------------------------------------------------------------- |
# MCU name |
MCU = atmega644p |
MCU = atmega644 |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
16,22 → 16,22 |
# Use one of the extensions for a gps solution |
#EXT = NAVICTRL |
EXT = DIRECT_GPS |
#EXT = DIRECT_GPS |
#EXT = MK3MAG |
#EXT = |
EXT = |
#GYRO=ENC-03_FC1.3 |
#GYRO_HW_NAME=ENC |
#GYRO_HW_FACTOR=1.304f |
#GYRO_PITCHROLL_CORRECTION=0.7f |
#GYRO_YAW_CORRECTION=0.9f |
GYRO=ADXRS610_FC2.0 |
GYRO_HW_NAME=ADXR |
GYRO_HW_FACTOR=1.2288f |
GYRO=ENC-03_FC1.3 |
GYRO_HW_NAME=ENC |
GYRO_HW_FACTOR=1.304f |
GYRO_PITCHROLL_CORRECTION=1.0f |
GYRO_YAW_CORRECTION=1.0f |
#GYRO=ADXRS610_FC2.0 |
#GYRO_HW_NAME=ADXR |
#GYRO_HW_FACTOR=1.2288f |
#GYRO_PITCHROLL_CORRECTION=1.0f |
#GYRO_YAW_CORRECTION=1.0f |
#GYRO=invenSense |
#GYRO_HW_NAME=Isense |
#GYRO_HW_FACTOR=0.6827f |
255,8 → 255,8 |
#AVRDUDE_PROGRAMMER = dt006 |
#AVRDUDE_PROGRAMMER = stk200 |
#AVRDUDE_PROGRAMMER = ponyser |
#AVRDUDE_PROGRAMMER = avrispv2 |
AVRDUDE_PROGRAMMER = usbtiny |
AVRDUDE_PROGRAMMER = avrispv2 |
#AVRDUDE_PROGRAMMER = usbtiny |
#falls Ponyser ausgewaehlt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
#AVRDUDE_PORT = com1 # programmer connected to serial device |
/branches/dongfang_FC_rewrite/rc.c |
---|
11,10 → 11,15 |
// The channel array is 0-based! |
volatile int16_t PPM_in[MAX_CHANNELS]; |
volatile int16_t PPM_diff[MAX_CHANNELS]; |
volatile uint16_t RC_buffer[MAX_CHANNELS]; |
volatile uint8_t inBfrPnt = 0; |
volatile uint8_t RCQuality; |
uint8_t lastRCCommand = COMMAND_NONE; |
uint8_t commandTimer = 0; |
#define TIME(s) ((int16_t)(((long)F_CPU/(long)64000)*(float)s + 0.5f)) |
/*************************************************************** |
* 16bit timer 1 is used to decode the PPM-Signal |
***************************************************************/ |
41,18 → 46,23 |
PORTD &= ~(1<<PORTD3); |
} |
// Timer/Counter1 Control Register A, B, C |
// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
// Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
// Enable input capture noise cancler (bit: ICNC1=1) |
// Trigger on positive edge of the input capture pin (bit: ICES1=1), |
// Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
TCCR1A &= ~((1<<COM1A1)| (1<<COM1A0) | (1<<COM1B1) | (1<<COM1B0) | (1<<WGM11) | (1<<WGM10)); |
TCCR1B &= ~((1<<WGM13) | (1<<WGM12) | (1<<CS12)); |
TCCR1B |= (1<<CS11) | (1<<CS10) | (1<<ICNC1); |
TCCR1C &= ~((1<<FOC1A) | (1<<FOC1B)); |
if (channelMap.RCPolarity) { |
TCCR1B |= (1<<ICES1); |
} else { |
TCCR1B &= ~(1<<ICES1); |
} |
TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
// Timer/Counter1 Interrupt Mask Register |
67,6 → 77,22 |
SREG = sreg; |
} |
/* |
* This new and much faster interrupt handler should reduce servo jolts. |
*/ |
ISR(TIMER1_CAPT_vect) { |
static uint16_t oldICR1 = 0; |
uint16_t signal = (uint16_t)ICR1 - oldICR1; |
oldICR1 = ICR1; |
//sync gap? (3.5 ms < signal < 25.6 ms) |
if (signal > TIME(3.5)) { |
inBfrPnt = 0; |
} else if (inBfrPnt<MAX_CHANNELS) { |
RC_buffer[inBfrPnt++] = signal; |
if (RCQuality <= 200-4) RCQuality+=4; else RCQuality = 200; |
} |
} |
/********************************************************************/ |
/* Every time a positive edge is detected at PD6 */ |
/********************************************************************/ |
88,64 → 114,18 |
The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
the syncronization gap. |
*/ |
ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
int16_t signal = 0, tmp; |
static int16_t index; |
static uint16_t oldICR1 = 0; |
// 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
// at the time the edge was detected |
// calculate the time delay to the previous event time which is stored in oldICR1 |
// calculatiing the difference of the two uint16_t and converting the result to an int16_t |
// implicit handles a timer overflow 65535 -> 0 the right way. |
signal = (uint16_t) ICR1 - oldICR1; |
oldICR1 = ICR1; |
//sync gap? (3.52 ms < signal < 25.6 ms) |
if ((signal > 1100) && (signal < 8000)) { |
index = 0; |
} else { // within the PPM frame |
if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
// check for valid signal length (0.8 ms < signal < 2.1984 ms) |
// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
if ((signal > 250) && (signal < 687)) { |
// shift signal to zero symmetric range -154 to 159 |
signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
// check for stable signal |
if (abs(signal - PPM_in[index]) < 6) { |
if (RCQuality < 200) |
RCQuality += 10; |
else |
RCQuality = 200; |
} |
// If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff. |
// if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
// In addition, if the signal is very close to 0, just set it to 0. |
if (signal >= -1 && signal <= 1) { |
tmp = 0; |
//} else { |
// tmp = PPM_in[index]; |
// } |
} else |
tmp = signal; |
// calculate signal difference on good signal level |
if (RCQuality >= 195) |
PPM_diff[index] = signal - PPM_in[index]; //((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
else |
PPM_diff[index] = 0; |
PPM_in[index] = tmp; // update channel value |
void RC_process(void) { |
if (RCQuality) RCQuality--; |
for (uint8_t channel=0; channel<MAX_CHANNELS; channel++) { |
uint16_t signal = RC_buffer[channel]; |
if (signal != 0) { |
RC_buffer[channel] = 0; // reset to flag value already used. |
if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
signal -= TIME(1.5); |
PPM_diff[channel] = signal - PPM_in[channel]; |
PPM_in[channel] = signal; |
} |
index++; // next channel |
// demux sum signal for channels 5 to 7 to J3, J4, J5 |
// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
// channels are usually available at the receiver anyway. |
// if(index == 5) J3HIGH; else J3LOW; |
// if(index == 6) J4HIGH; else J4LOW; |
// if(CPUType != ATMEGA644P) // not used as TXD1 |
// { |
// if(index == 7) J5HIGH; else J5LOW; |
// } |
} |
} |
} |
182,6 → 162,7 |
*/ |
void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
int16_t tmp1, tmp2; |
RC_process(); |
if (RCQuality) { |
RCQuality--; |
PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP + RCDiff(CH_PITCH) * staticParams.stickD; |
/branches/dongfang_FC_rewrite/uart0.c |
---|
94,20 → 94,20 |
"GyroPitch ", |
"GyroRoll ", |
"GyroYaw ", //5 |
"PitchTerm ", |
"RollTerm ", |
"correctionSum pi", |
"correctionSum ro", |
"ThrottleTerm ", |
"YawTerm ", |
"heightP ", //10 |
"heightI ", |
"heightD ", |
"gyroActivity ", |
"ca ", |
"gyroDPitch ", //10 |
"gyroDRoll ", |
"zerothOrderCorr ", |
"DriftCompPitch ", |
"DriftCompRoll ", |
"GActivityDivider", //15 |
"NaviMode ", |
"NaviStatus ", |
"NaviStickP ", |
"NaviStickR ", |
"AccPitch ", |
"AccRoll ", |
" ", |
" ", |
"control act wghd", //20 |
"acc vector wghd ", |
"Height[dm] ", |
116,7 → 116,7 |
"EFT ", //25 |
"naviPitch ", |
"naviRoll ", |
"tolerance ", |
"Rate Tolerance ", |
"Gyro Act Cont. ", |
"GPS altitude ", //30 |
"GPS vert accura " |
735,7 → 735,8 |
} |
if (request_PPMChannels && txd_complete) { |
sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
uint8_t length = MAX_CHANNELS; |
sendOutData('P', FC_ADDRESS, 2, &length, 1, (uint8_t*)&PPM_in, sizeof(PPM_in)); |
request_PPMChannels = FALSE; |
} |
744,6 → 745,7 |
request_variables = FALSE; |
} |
#ifdef USE_DIRECT_GPS |
if (((OSD_interval && checkDelay(OSD_timer)) || request_OSD) && txd_complete) { |
int32_t height = analog_getHeight(); |
data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg |
753,4 → 755,5 |
OSD_timer = setDelay(OSD_interval); |
request_OSD = FALSE; |
} |
#endif |
} |