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| /************************************************************************/ |
| /* Flight Attitude */ |
| /************************************************************************/ |
| |
| #include <stdlib.h> |
| #include <avr/io.h> |
| |
| #include "attitude.h" |
| #include "dongfangMath.h" |
| |
| // For scope debugging only! |
| #include "rc.h" |
| |
| // where our main data flow comes from. |
| #include "analog.h" |
| |
| #include "configuration.h" |
| #include "output.h" |
| |
| // Some calculations are performed depending on some stick related things. |
| #include "controlMixer.h" |
| |
| // For Servo_On / Off |
| // #include "timer2.h" |
| |
| #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
| |
| /* |
| * Gyro readings, as read from the analog module. It would have been nice to flow |
| * them around between the different calculations as a struct or array (doing |
| * things functionally without side effects) but this is shorter and probably |
| * faster too. |
| * The variables are overwritten at each attitude calculation invocation - the values |
| * are not preserved or reused. |
| */ |
| int16_t rate_ATT[2], yawRate; |
| |
| // With different (less) filtering |
| int16_t rate_PID[2]; |
| int16_t differential[3]; |
| |
| /* |
| * Gyro readings, after performing "axis coupling" - that is, the transfomation |
| * of rotation rates from the airframe-local coordinate system to a ground-fixed |
| * coordinate system. If axis copling is disabled, the gyro readings will be |
| * copied into these directly. |
| * These are global for the same pragmatic reason as with the gyro readings. |
| * The variables are overwritten at each attitude calculation invocation - the values |
| * are not preserved or reused. |
| */ |
| int16_t ACRate[2], ACYawRate; |
| |
| /* |
| * Gyro integrals. These are the rotation angles of the airframe compared to the |
| * horizontal plane, yaw relative to yaw at start. |
| */ |
| int32_t angle[2], yawAngleDiff; |
| |
| int readingHeight = 0; |
| |
| // Yaw angle and compass stuff. |
| |
| // This is updated/written from MM3. Negative angle indicates invalid data. |
| int16_t compassHeading = -1; |
| |
| // This is NOT updated from MM3. Negative angle indicates invalid data. |
| int16_t compassCourse = -1; |
| |
| // The difference between the above 2 (heading - course) on a -180..179 degree interval. |
| // Not necessary. Never read anywhere. |
| // int16_t compassOffCourse = 0; |
| |
| uint8_t updateCompassCourse = 0; |
| uint8_t compassCalState = 0; |
| uint16_t ignoreCompassTimer = 500; |
| |
| int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
| int16_t yawGyroDrift; |
| |
| int16_t correctionSum[2] = { 0, 0 }; |
| |
| // For NaviCTRL use. |
| int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
| |
| /* |
| * Experiment: Compensating for dynamic-induced gyro biasing. |
| */ |
| int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0; |
| // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
| // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
| // int16_t dynamicCalCount; |
| |
| /************************************************************************ |
| * Set inclination angles from the acc. sensor data. |
| * If acc. sensors are not used, set to zero. |
| * TODO: One could use inverse sine to calculate the angles more |
| * accurately, but since: 1) the angles are rather small at times when |
| * it makes sense to set the integrals (standing on ground, or flying at |
| * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
| * it is hardly worth the trouble. |
| ************************************************************************/ |
| |
| int32_t getAngleEstimateFromAcc(uint8_t axis) { |
| return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; |
| } |
| |
| void setStaticAttitudeAngles(void) { |
| #ifdef ATTITUDE_USE_ACC_SENSORS |
| angle[PITCH] = getAngleEstimateFromAcc(PITCH); |
| angle[ROLL] = getAngleEstimateFromAcc(ROLL); |
| #else |
| angle[PITCH] = angle[ROLL] = 0; |
| #endif |
| } |
| |
| /************************************************************************ |
| * Neutral Readings |
| ************************************************************************/ |
| void attitude_setNeutral(void) { |
| // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
| driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
| correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| |
| // Calibrate hardware. |
| analog_calibrate(); |
| |
| // reset gyro integrals to acc guessing |
| setStaticAttitudeAngles(); |
| yawAngleDiff = 0; |
| |
| // update compass course to current heading |
| compassCourse = compassHeading; |
| |
| // Inititialize YawGyroIntegral value with current compass heading |
| yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
| |
| // Servo_On(); //enable servo output |
| } |
| |
| /************************************************************************ |
| * Get sensor data from the analog module, and release the ADC |
| * TODO: Ultimately, the analog module could do this (instead of dumping |
| * the values into variables). |
| * The rate variable end up in a range of about [-1024, 1023]. |
| *************************************************************************/ |
| void getAnalogData(void) { |
| uint8_t axis; |
| |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| rate_PID[axis] = gyro_PID[axis] + driftComp[axis]; |
| rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis]; |
| differential[axis] = gyroD[axis]; |
| averageAcc[axis] += acc[axis]; |
| } |
| |
| differential[YAW] = gyroD[YAW]; |
| |
| averageAccCount++; |
| yawRate = yawGyro + driftCompYaw; |
| |
| // We are done reading variables from the analog module. |
| // Interrupt-driven sensor reading may restart. |
| analogDataReady = 0; |
| analog_start(); |
| } |
| |
| /* |
| * This is the standard flight-style coordinate system transformation |
| * (from airframe-local axes to a ground-based system). For some reason |
| * the MK uses a left-hand coordinate system. The tranformation has been |
| * changed accordingly. |
| */ |
| void trigAxisCoupling(void) { |
| int16_t cospitch = int_cos(angle[PITCH]); |
| int16_t cosroll = int_cos(angle[ROLL]); |
| int16_t sinroll = int_sin(angle[ROLL]); |
| |
| ACRate[PITCH] = (((int32_t)rate_ATT[PITCH] * cosroll - (int32_t)yawRate |
| * sinroll) >> MATH_UNIT_FACTOR_LOG); |
| |
| ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll |
| + (int32_t)yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * int_tan( |
| angle[PITCH])) >> MATH_UNIT_FACTOR_LOG); |
| |
| ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
| |
| ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
| } |
| |
| // 480 usec with axis coupling - almost no time without. |
| void integrate(void) { |
| // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
| uint8_t axis; |
| |
| if (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE) { |
| trigAxisCoupling(); |
| } else { |
| ACRate[PITCH] = rate_ATT[PITCH]; |
| ACRate[ROLL] = rate_ATT[ROLL]; |
| ACYawRate = yawRate; |
| } |
| |
| /* |
| * Yaw |
| * Calculate yaw gyro integral (~ to rotation angle) |
| * Limit yawGyroHeading proportional to 0 deg to 360 deg |
| */ |
| yawGyroHeading += ACYawRate; |
| yawAngleDiff += yawRate; |
| |
| if (yawGyroHeading >= YAWOVER360) { |
| yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
| } else if (yawGyroHeading < 0) { |
| yawGyroHeading += YAWOVER360; |
| } |
| |
| /* |
| * Pitch axis integration and range boundary wrap. |
| */ |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| angle[axis] += ACRate[axis]; |
| if (angle[axis] > PITCHROLLOVER180) { |
| angle[axis] -= PITCHROLLOVER360; |
| } else if (angle[axis] <= -PITCHROLLOVER180) { |
| angle[axis] += PITCHROLLOVER360; |
| } |
| } |
| } |
| |
| /************************************************************************ |
| * A kind of 0'th order integral correction, that corrects the integrals |
| * directly. This is the "gyroAccFactor" stuff in the original code. |
| * There is (there) also a drift compensation |
| * - it corrects the differential of the integral = the gyro offsets. |
| * That should only be necessary with drifty gyros like ENC-03. |
| ************************************************************************/ |
| void correctIntegralsByAcc0thOrder(void) { |
| // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
| // are less than ....., or reintroduce Kalman. |
| // Well actually the Z axis acc. check is not so silly. |
| uint8_t axis; |
| int32_t temp; |
| if (acc[Z] >= -dynamicParams.UserParams[7] && acc[Z] |
| <= dynamicParams.UserParams[7]) { |
| DebugOut.Digital[0] |= DEBUG_ACC0THORDER; |
| |
| uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
| uint8_t debugFullWeight = 1; |
| int32_t accDerived; |
| |
| if ((control[YAW] < -64) || (control[YAW] > 64)) { // reduce further if yaw stick is active |
| permilleAcc /= 2; |
| debugFullWeight = 0; |
| } |
| |
| if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
| permilleAcc /= 2; |
| debugFullWeight = 0; |
| } |
| |
| if (debugFullWeight) |
| DebugOut.Digital[1] |= DEBUG_ACC0THORDER; |
| else |
| DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER; |
| |
| /* |
| * Add to each sum: The amount by which the angle is changed just below. |
| */ |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| accDerived = getAngleEstimateFromAcc(axis); |
| // DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL; |
| |
| // 1000 * the correction amount that will be added to the gyro angle in next line. |
| temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000; |
| angle[axis] = ((int32_t) (1000L - permilleAcc) * temp |
| + (int32_t) permilleAcc * accDerived) / 1000L; |
| correctionSum[axis] += angle[axis] - temp; |
| } |
| } else { |
| DebugOut.Digital[0] &= ~DEBUG_ACC0THORDER; |
| DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER; |
| // DebugOut.Analog[9] = 0; |
| // DebugOut.Analog[10] = 0; |
| |
| DebugOut.Analog[16] = 0; |
| DebugOut.Analog[17] = 0; |
| // experiment: Kill drift compensation updates when not flying smooth. |
| correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| } |
| } |
| |
| /************************************************************************ |
| * This is an attempt to correct not the error in the angle integrals |
| * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
| * cause of it: Gyro drift, vibration and rounding errors. |
| * All the corrections made in correctIntegralsByAcc0thOrder over |
| * DRIFTCORRECTION_TIME cycles are summed up. This number is |
| * then divided by DRIFTCORRECTION_TIME to get the approx. |
| * correction that should have been applied to each iteration to fix |
| * the error. This is then added to the dynamic offsets. |
| ************************************************************************/ |
| // 2 times / sec. = 488/2 |
| #define DRIFTCORRECTION_TIME 256L |
| void driftCorrection(void) { |
| static int16_t timer = DRIFTCORRECTION_TIME; |
| int16_t deltaCorrection; |
| int16_t round; |
| uint8_t axis; |
| |
| if (!--timer) { |
| timer = DRIFTCORRECTION_TIME; |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| // Take the sum of corrections applied, add it to delta |
| if (correctionSum[axis] >=0) |
| round = DRIFTCORRECTION_TIME / 2; |
| else |
| round = -DRIFTCORRECTION_TIME / 2; |
| deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
| // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
| driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim; |
| CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp); |
| // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
| DebugOut.Analog[16 + axis] = correctionSum[axis]; |
| DebugOut.Analog[28 + axis] = driftComp[axis]; |
| |
| correctionSum[axis] = 0; |
| } |
| } |
| } |
| |
| /************************************************************************ |
| * Main procedure. |
| ************************************************************************/ |
| void calculateFlightAttitude(void) { |
| getAnalogData(); |
| integrate(); |
| |
| DebugOut.Analog[3] = rate_PID[PITCH]; |
| DebugOut.Analog[4] = rate_PID[ROLL]; |
| DebugOut.Analog[5] = yawRate; |
| |
| #ifdef ATTITUDE_USE_ACC_SENSORS |
| correctIntegralsByAcc0thOrder(); |
| driftCorrection(); |
| #endif |
| } |