65,41 → 65,34 |
#include "eeprom.h" |
|
/* |
* Arrays could have been used for the 2 * 3 axes, but despite some repetition, |
* the code is easier to read without. |
* |
* For each A/D conversion cycle, each channel (eg. the yaw gyro, or the Z axis |
* accelerometer) is sampled a number of times (see array channelsForStates), and |
* the results for each channel are summed. Here are those for the gyros and the |
* acc. meters. They are not zero-offset. |
* For each A/D conversion cycle, each analog channel is sampled a number of times |
* (see array channelsForStates), and the results for each channel are summed. |
* Here are those for the gyros and the acc. meters. They are not zero-offset. |
* They are exported in the analog.h file - but please do not use them! The only |
* reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating |
* the offsets with the DAC. |
*/ |
volatile int16_t rawPitchGyroSum, rawRollGyroSum, rawYawGyroSum; |
volatile int16_t pitchAxisAcc = 0, rollAxisAcc = 0, ZAxisAcc = 0; |
volatile int16_t filteredPitchAxisAcc = 0, filteredRollAxisAcc = 0; |
volatile int16_t rawGyroSum[2], rawYawGyroSum; |
volatile int16_t acc[2] = {0,0}, ZAcc = 0; |
volatile int16_t filteredAcc[2] = {0,0}; |
|
// that float one - "Top" - is missing. |
|
/* |
* These 4 exported variables are zero-offset. The "filtered" ones are |
* (if configured to with the GYROS_SECONDORDERFILTER define) low pass |
* filtered versions of the other 2. |
* They are derived from the "raw" values above, by zero-offsetting. |
* These 4 exported variables are zero-offset. The "PID" ones are used |
* in the attitude control as rotation rates. The "ATT" ones are for |
* integration to angles. |
*/ |
volatile int16_t hiResPitchGyro = 0, hiResRollGyro = 0; |
volatile int16_t filteredHiResPitchGyro = 0, filteredHiResRollGyro = 0; |
volatile int16_t pitchGyroD = 0, rollGyroD = 0; |
volatile int16_t gyro_PID[2]; |
volatile int16_t gyro_ATT[2]; |
volatile int16_t gyroD[2]; |
volatile int16_t yawGyro = 0; |
|
/* |
* Offset values. These are the raw gyro and acc. meter sums when the copter is |
* standing still. They are used for adjusting the gyro and acc. meter values |
* to be zero when the copter stands still. |
* to be centered on zero. |
*/ |
volatile int16_t pitchOffset, rollOffset, yawOffset; |
volatile int16_t pitchAxisAccOffset, rollAxisAccOffset, ZAxisAccOffset; |
volatile int16_t gyroOffset[2], yawGyroOffset; |
volatile int16_t accOffset[2], ZAccOffset; |
|
/* |
* This allows some experimentation with the gyro filters. |
110,12 → 103,14 |
volatile uint8_t GYROS_DFILTER; |
volatile uint8_t ACC_FILTER; |
|
// Air pressure (no support right now). |
// volatile int32_t AirPressure = 32000; |
// volatile uint8_t average_pressure = 0; |
// volatile int16_t StartAirPressure; |
// volatile uint16_t ReadingAirPressure = 1023; |
// volatile int16_t HeightD = 0; |
/* |
* Air pressure measurement. |
*/ |
#define MIN_RAWPRESSURE 200 |
#define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE) |
volatile uint8_t rangewidth = 53; |
volatile uint16_t rawAirPressure; |
volatile uint16_t filteredAirPressure; |
|
/* |
* Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
124,8 → 119,6 |
*/ |
volatile int16_t UBat = 100; |
|
volatile int16_t filteredAirPressure; |
|
/* |
* Control and status. |
*/ |
135,8 → 128,8 |
/* |
* Experiment: Measuring vibration-induced sensor noise. |
*/ |
volatile uint16_t pitchGyroNoisePeak, rollGyroNoisePeak; |
volatile uint16_t pitchAccNoisePeak, rollAccNoisePeak; |
volatile uint16_t gyroNoisePeak[2]; |
volatile uint16_t accNoisePeak[2]; |
|
// ADC channels |
#define AD_GYRO_YAW 0 |
228,13 → 221,8 |
} |
} |
|
|
#define ADCENTER (1023/2) |
#define HALFRANGE 400 |
uint8_t stepsize = 53; |
|
uint16_t getAbsPressure(int advalue) { |
return (uint16_t)OCR0A * (uint16_t)stepsize + advalue; |
return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
} |
|
uint16_t filterAirPressure(uint16_t rawpressure) { |
241,22 → 229,21 |
return rawpressure; |
} |
|
/*****************************************************/ |
/* Interrupt Service Routine for ADC */ |
/*****************************************************/ |
// Runs at 312.5 kHz or 3.2 µs |
// When all states are processed the interrupt is disabled |
// and the update of further AD conversions is stopped. |
|
/***************************************************** |
* Interrupt Service Routine for ADC |
* Runs at 312.5 kHz or 3.2 µs. When all states are |
* processed the interrupt is disabled and further |
* AD conversions are stopped. |
*****************************************************/ |
ISR(ADC_vect) { |
static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
static uint8_t pressure_wait = 10; |
uint8_t i, axis; |
int16_t range; |
|
uint8_t i; |
int16_t step = OCR0A; |
|
// for various filters... |
static int16_t pitchGyroFilter, rollGyroFilter, tempOffsetGyro; |
int16_t tempOffsetGyro, tempGyro; |
|
sensorInputs[ad_channel] += ADC; |
|
267,9 → 254,9 |
switch(state++) { |
case 7: // Z acc |
#ifdef ACC_REVERSE_ZAXIS |
ZAxisAcc = -ZAxisAccOffset - sensorInputs[AD_ACC_Z]; |
ZAcc = -ZAccOffset - sensorInputs[AD_ACC_Z]; |
#else |
ZAxisAcc = sensorInputs[AD_ACC_Z] - ZAxisAccOffset; |
ZAcc = sensorInputs[AD_ACC_Z] - ZAccOffset; |
#endif |
break; |
|
276,83 → 263,115 |
case 10: // yaw gyro |
rawYawGyroSum = sensorInputs[AD_GYRO_YAW]; |
#ifdef GYRO_REVERSE_YAW |
yawGyro = rawYawGyroSum - yawOffset; |
yawGyro = rawYawGyroSum - yawGyroOffset; |
#else |
yawGyro = yawOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3). |
yawGyro = yawGyroOffset - rawYawGyroSum; // negative is "default" (FC 1.0-1.3). |
#endif |
break; |
|
case 11: // pitch axis acc. |
#ifdef ACC_REVERSE_PITCHAXIS |
pitchAxisAcc = -pitchAxisAccOffset - sensorInputs[AD_ACC_PITCH]; |
acc[PITCH] = -accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
#else |
pitchAxisAcc = sensorInputs[AD_ACC_PITCH] - pitchAxisAccOffset; |
acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
#endif |
filteredPitchAxisAcc = (filteredPitchAxisAcc * (ACC_FILTER-1) + pitchAxisAcc) / ACC_FILTER; |
filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
|
measureNoise(pitchAxisAcc, &pitchAccNoisePeak, 1); |
measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
break; |
|
case 12: // roll axis acc. |
#ifdef ACC_REVERSE_ROLLAXIS |
rollAxisAcc = sensorInputs[AD_ACC_ROLL] - rollAxisAccOffset; |
acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
#else |
rollAxisAcc = -rollAxisAccOffset - sensorInputs[AD_ACC_ROLL]; |
acc[ROLL] = -accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
#endif |
filteredRollAxisAcc = (filteredRollAxisAcc * (ACC_FILTER-1) + rollAxisAcc) / ACC_FILTER; |
measureNoise(rollAxisAcc, &rollAccNoisePeak, 1); |
filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
break; |
|
case 13: // air pressure |
if (sensorInputs[AD_AIRPRESSURE] < ADCENTER-HALFRANGE) { |
if (pressure_wait) { |
// A range switch was done recently. Wait for steadying. |
pressure_wait--; |
break; |
} |
range = OCR0A; |
rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
if (rawAirPressure < MIN_RAWPRESSURE) { |
// value is too low, so decrease voltage on the op amp minus input, making the value higher. |
step -= ((HALFRANGE-sensorInputs[AD_AIRPRESSURE]) / stepsize + 1); |
if (step<0) step = 0; |
OCR0A = step; |
// wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off) |
} else if (sensorInputs[AD_AIRPRESSURE] > ADCENTER+HALFRANGE) { |
range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
if (range < 0) range = 0; |
pressure_wait = (OCR0A - range) * 4; |
OCR0A = range; |
} else if (rawAirPressure > MAX_RAWPRESSURE) { |
// value is too high, so increase voltage on the op amp minus input, making the value lower. |
step += ((sensorInputs[AD_AIRPRESSURE] - HALFRANGE)/stepsize + 1); |
if (step>254) step = 254; |
OCR0A = step; |
// wait = ... (calculate something here .. calculate at what time the R/C filter is to within one sample off) |
range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
if (range > 254) range = 254; |
pressure_wait = (range - OCR0A) * 4; |
OCR0A = range; |
} else { |
filteredAirPressure = filterAirPressure(getAbsPressure(sensorInputs[AD_AIRPRESSURE])); |
filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure)); |
} |
break; |
|
case 14: // pitch gyro |
rawPitchGyroSum = sensorInputs[AD_GYRO_PITCH]; |
// Filter already before offsetting. The offsetting resolution improvement obtained by divding by |
// GYROS_FIRSTORDERFILTER _after_ offsetting is too small to be worth pursuing. |
pitchGyroFilter = (pitchGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawPitchGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER; |
// Offset to 0. |
#ifdef GYROS_REVERSE_PITCH |
tempOffsetGyro = pitchOffset - pitchGyroFilter; |
#else |
tempOffsetGyro = pitchGyroFilter - pitchOffset; |
#endif |
// Calculate the delta from last shot and filter it. |
pitchGyroD = (pitchGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResPitchGyro)) / GYROS_DFILTER; |
// How we can overwrite the last value. This value is used for the D part of the PID controller. |
hiResPitchGyro = tempOffsetGyro; |
// Filter a little more. This value is used in integration to angles. |
filteredHiResPitchGyro = (filteredHiResPitchGyro * (GYROS_SECONDORDERFILTER-1) + hiResPitchGyro) / GYROS_SECONDORDERFILTER; |
measureNoise(hiResPitchGyro, &pitchGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING); |
DebugOut.Analog[12] = range; |
DebugOut.Analog[13] = rawAirPressure; |
DebugOut.Analog[14] = filteredAirPressure; |
break; |
|
case 15: // Roll gyro. Works the same as pitch. |
rawRollGyroSum = sensorInputs[AD_GYRO_ROLL]; |
rollGyroFilter = (rollGyroFilter * (GYROS_FIRSTORDERFILTER-1) + rawRollGyroSum * GYRO_FACTOR_PITCHROLL) / GYROS_FIRSTORDERFILTER; |
#ifdef GYRO_REVERSE_ROLL |
tempOffsetGyro = rollOffset - rollGyroFilter; |
#else |
tempOffsetGyro = rollGyroFilter - rollOffset; |
#endif |
rollGyroD = (rollGyroD * (GYROS_DFILTER-1) + (tempOffsetGyro - hiResRollGyro)) / GYROS_DFILTER; |
hiResRollGyro = tempOffsetGyro; |
filteredHiResRollGyro = (filteredHiResRollGyro * (GYROS_SECONDORDERFILTER-1) + hiResRollGyro) / GYROS_SECONDORDERFILTER; |
measureNoise(hiResRollGyro, &rollGyroNoisePeak, GYRO_NOISE_MEASUREMENT_DAMPING); |
case 14: |
case 15: // pitch or roll gyro. |
axis = state - 15; |
tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
// DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
/* |
* Process the gyro data for the PID controller. |
*/ |
// 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
// gyro with a wider range, and helps counter saturation at full control. |
|
if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
if (tempGyro < SENSOR_MIN_PITCHROLL) { |
tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
} |
else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
} |
} |
|
// 2) Apply sign and offset, scale before filtering. |
if (GYROS_REVERSE[axis]) { |
tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
} else { |
tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
} |
|
// 3) Scale and filter. |
tempOffsetGyro = (gyro_PID[axis] * (GYROS_PIDFILTER-1) + tempOffsetGyro) / GYROS_PIDFILTER; |
|
// 4) Measure noise. |
measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
|
// 5) Differential measurement. |
gyroD[axis] = (gyroD[axis] * (GYROS_DFILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_DFILTER; |
|
// 6) Done. |
gyro_PID[axis] = tempOffsetGyro; |
|
/* |
* Now process the data for attitude angles. |
*/ |
tempGyro = rawGyroSum[axis]; |
|
// 1) Apply sign and offset, scale before filtering. |
if (GYROS_REVERSE[axis]) { |
tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
} else { |
tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
} |
|
// 2) Filter. |
gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_INTEGRALFILTER-1) + tempOffsetGyro) / GYROS_INTEGRALFILTER; |
break; |
|
case 16: |
390,7 → 409,7 |
GYROS_DFILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
|
pitchOffset = rollOffset = yawOffset = 0; |
gyroOffset[PITCH] = gyroOffset[ROLL] = yawGyroOffset = 0; |
|
gyro_calibrate(); |
|
397,28 → 416,25 |
// determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
Delay_ms_Mess(10); |
_pitchOffset += rawPitchGyroSum * GYRO_FACTOR_PITCHROLL; |
_rollOffset += rawRollGyroSum * GYRO_FACTOR_PITCHROLL; |
_pitchOffset += rawGyroSum[PITCH]; |
_rollOffset += rawGyroSum[ROLL]; |
_yawOffset += rawYawGyroSum; |
} |
|
pitchOffset = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
rollOffset = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
yawOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
gyroOffset[PITCH] = (_pitchOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
gyroOffset[ROLL] = (_rollOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
yawGyroOffset = (_yawOffset + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
|
filteredHiResPitchGyro = filteredHiResRollGyro = 0; |
gyro_PID[PITCH] = gyro_PID[ROLL] = 0; |
gyro_ATT[PITCH] = gyro_ATT[ROLL] = 0; |
|
pitchAxisAccOffset = (int16_t)GetParamWord(PID_ACC_NICK); |
rollAxisAccOffset = (int16_t)GetParamWord(PID_ACC_ROLL); |
ZAxisAccOffset = (int16_t)GetParamWord(PID_ACC_TOP); |
|
// Noise is relative to offset. So, reset noise measurements when |
// changing offsets. |
pitchGyroNoisePeak = rollGyroNoisePeak = 0; |
gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
|
// Setting offset values has an influence in the analog.c ISR |
// Therefore run measurement for 100ms to achive stable readings |
Delay_ms_Mess(100); |
accOffset[PITCH] = (int16_t)GetParamWord(PID_ACC_PITCH); |
accOffset[ROLL] = (int16_t)GetParamWord(PID_ACC_ROLL); |
ZAccOffset = (int16_t)GetParamWord(PID_ACC_TOP); |
} |
|
/* |
432,22 → 448,54 |
#define ACC_OFFSET_CYCLES 10 |
uint8_t i; |
int32_t _pitchAxisOffset = 0, _rollAxisOffset = 0, _ZAxisOffset = 0; |
// int16_t pressureDiff, savedRawAirPressure; |
|
pitchAxisAccOffset = rollAxisAccOffset = ZAxisAccOffset = 0; |
accOffset[PITCH] = accOffset[ROLL] = ZAccOffset = 0; |
|
for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
Delay_ms_Mess(10); |
_pitchAxisOffset += pitchAxisAcc; |
_rollAxisOffset += rollAxisAcc; |
_ZAxisOffset += ZAxisAcc; |
_pitchAxisOffset += acc[PITCH]; |
_rollAxisOffset += acc[ROLL]; |
_ZAxisOffset += ZAcc; |
} |
|
// Save ACC neutral settings to eeprom |
SetParamWord(PID_ACC_NICK, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
SetParamWord(PID_ACC_PITCH, (uint16_t)((_pitchAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
SetParamWord(PID_ACC_ROLL, (uint16_t)((_rollAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
SetParamWord(PID_ACC_TOP, (uint16_t)((_ZAxisOffset + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES)); |
|
// Noise is relative to offset. So, reset noise measurements when |
// changing offsets. |
pitchAccNoisePeak = rollAccNoisePeak = 0; |
accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
// Setting offset values has an influence in the analog.c ISR |
// Therefore run measurement for 100ms to achive stable readings |
// Delay_ms_Mess(100); |
|
// Set the feedback so that air pressure ends up in the middle of the range. |
// (raw pressure high --> OCR0A also high...) |
// OCR0A += (rawAirPressure - 512) / rangewidth; |
// Delay_ms_Mess(500); |
|
/* |
pressureDiff = 0; |
DebugOut.Analog[16] = rawAirPressure; |
|
#define PRESSURE_CAL_CYCLE_COUNT 2 |
for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
savedRawAirPressure = rawAirPressure; |
OCR0A++; |
Delay_ms_Mess(200); |
// raw pressure will decrease. |
pressureDiff += (savedRawAirPressure - rawAirPressure); |
|
savedRawAirPressure = rawAirPressure; |
OCR0A--; |
Delay_ms_Mess(200); |
// raw pressure will increase. |
pressureDiff += (rawAirPressure - savedRawAirPressure); |
} |
|
DebugOut.Analog[15] = rangewidth = |
(pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
*/ |
} |