| /branches/dongfang_FC_rewrite/analog.c |
|---|
| 4,7 → 4,7 |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 134,6 → 134,9 |
| * 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
| */ |
| void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) {} |
| /* |
| void rotate(int16_t* result, uint8_t quadrant, uint8_t reverse) { |
| static const int8_t rotationTab[] = {1,1,0,-1,-1,-1,0,1}; |
| // Pitch to Pitch part |
| 158,7 → 161,7 |
| result[1] = (result[1]*11) >> 4; |
| } |
| } |
| */ |
| /* |
| * Air pressure |
| */ |
| 301,6 → 304,7 |
| void startAnalogConversionCycle(void) { |
| analogDataReady = 0; |
| // Stop the sampling. Cycle is over. |
| for (uint8_t i = 0; i < 8; i++) { |
| sensorInputs[i] = 0; |
| 340,7 → 344,6 |
| debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
| for (uint8_t axis=0; axis<2; axis++) { |
| tempGyro = rawGyroValue(axis); |
| /* |
| * Process the gyro data for the PID controller. |
| */ |
| 386,6 → 389,15 |
| */ |
| rotate(tempOffsetGyro, staticParams.gyroQuadrant, staticParams.imuReversedFlags & 1); |
| gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
| gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
| debugOut.analog[22 + 0] = gyro_PID[0]; |
| debugOut.analog[22 + 1] = gyro_PID[1]; |
| debugOut.analog[24 + 0] = gyro_ATT[0]; |
| debugOut.analog[24 + 1] = gyro_ATT[1]; |
| // 2) Filter. This should really be quite unnecessary. The integration should gobble up any noise anyway and the values are not used for anything else. |
| // gyro_ATT[PITCH] = (gyro_ATT[PITCH] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[PITCH]) / staticParams.attitudeGyroFilter; |
| // gyro_ATT[ROLL] = (gyro_ATT[ROLL] * (staticParams.attitudeGyroFilter - 1) + tempOffsetGyro[ROLL]) / staticParams.attitudeGyroFilter; |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 303,7 → 303,7 |
| } |
| if (accVector <= dynamicParams.maxAccVector) { |
| debugOut.digital[0] |= DEBUG_ACC0THORDER; |
| debugOut.digital[0] &= ~ DEBUG_ACC0THORDER; |
| uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
| int32_t accDerived; |
| 344,7 → 344,7 |
| debugOut.analog[10] = 0; |
| // experiment: Kill drift compensation updates when not flying smooth. |
| // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
| debugOut.digital[0] |= DEBUG_ACC0THORDER; |
| } |
| } |
| /branches/dongfang_FC_rewrite/configuration.c |
|---|
| 163,7 → 163,7 |
| uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
| uint8_t CPUType = ATMEGA644; |
| //if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
| if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
| return CPUType; |
| } |
| /branches/dongfang_FC_rewrite/configuration.h |
|---|
| 61,7 → 61,7 |
| extern channelMap_t channelMap; |
| typedef struct { |
| int8_t name[12]; |
| char name[12]; |
| int8_t motor[MAX_MOTORS][4]; |
| }__attribute__((packed)) mixerMatrix_t; |
| extern mixerMatrix_t mixerMatrix; |
| 113,7 → 113,6 |
| uint8_t motorSmoothing; |
| // IMU |
| // IMU stuff |
| uint8_t gyroQuadrant; |
| uint8_t accQuadrant; |
| uint8_t imuReversedFlags; |
| 160,7 → 159,7 |
| uint8_t userParams[8]; // Value : 0-250 |
| // Name |
| uint8_t name[12]; |
| char name[12]; |
| } paramset_t; |
| extern paramset_t staticParams; |
| /branches/dongfang_FC_rewrite/controlMixer.c |
|---|
| 142,6 → 142,7 |
| void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
| int16_t tmp = controls[index]; |
| controls[index] = newValue; |
| tmp -= newValue; |
| tmp /= 2; |
| tmp = tmp * tmp; |
| /branches/dongfang_FC_rewrite/flight.c |
|---|
| 437,7 → 437,7 |
| CHECK_MIN_MAX(tmp, 1, 255); |
| throttle = tmp; |
| if (i < 4) debugOut.analog[22 + i] = throttle; |
| // if (i < 4) debugOut.analog[22 + i] = throttle; |
| if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
| motor[i].SetPoint = throttle; |
| /branches/dongfang_FC_rewrite/invenSense.c |
|---|
| 16,8 → 16,7 |
| void gyro_calibrate(void) { |
| // If port not already set to output and high, do it. |
| if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
| << AUTOZERO_BIT))) { |
| if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) { |
| AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| delay_ms(100); |
| 28,7 → 27,7 |
| delay_ms(1); |
| AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| // Delay_ms(10); |
| delay_ms_with_adc_measurement(100); |
| delay_ms_with_adc_measurement(100, 0); |
| } |
| void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults) { |
| 38,6 → 37,7 |
| void gyro_setDefaultParameters(void) { |
| staticParams.gyroD = 3; |
| staticParams.driftCompDivider = 2; |
| staticParams.driftCompLimit = 3; |
| staticParams.zerothOrderCorrection = 2; |
| staticParams.driftCompLimit = 5; |
| staticParams.zerothOrderCorrection = 1; |
| staticParams.imuReversedFlags = 8; |
| } |
| /branches/dongfang_FC_rewrite/makefile |
|---|
| 23,11 → 23,11 |
| #RC = DSL |
| #RC = SPECTRUM |
| 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=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 |
| 35,11 → 35,11 |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| #GYRO=invenSense |
| #GYRO_HW_NAME=Isense |
| #GYRO_HW_FACTOR=0.6827f |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| GYRO=invenSense |
| GYRO_HW_NAME=Isense |
| GYRO_HW_FACTOR=0.6827f |
| GYRO_PITCHROLL_CORRECTION=1.0f |
| GYRO_YAW_CORRECTION=1.0f |
| #------------------------------------------------------------------- |
| # get SVN revision |
| /branches/dongfang_FC_rewrite/rc.c |
|---|
| 170,7 → 170,7 |
| // 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 -= 470; // offset of 1.4912 ms ??? (469 * 3.2�s = 1.5008 ms) |
| signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
| // check for stable signal |
| if (abs(signal - PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |