| 67,9 → 67,9 |
|---|
| // For DebugOut.Digital |
| #include "output.h" |
| |
| /* |
| * 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. |
| /* |
| * 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 |
| 82,7 → 82,7 |
|---|
| /* |
| * 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. |
| * integration to angles. |
| */ |
| volatile int16_t gyro_PID[2]; |
| volatile int16_t gyro_ATT[2]; |
| 130,7 → 130,7 |
|---|
| volatile uint8_t pressureMeasurementCount; |
| |
| /* |
| * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
| * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
| * That is divided by 3 below, for a final 10.34 per volt. |
| * So the initial value of 100 is for 9.7 volts. |
| */ |
| 160,11 → 160,11 |
|---|
| |
| /* |
| * Table of AD converter inputs for each state. |
| * The number of samples summed for each channel is equal to |
| * The number of samples summed for each channel is equal to |
| * the number of times the channel appears in the array. |
| * The max. number of samples that can be taken in 2 ms is: |
| * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
| * loop needs a little time between reading AD values and |
| * 20e6 / 128 / 13 / (1/2e-3) = 24. Since the main control |
| * loop needs a little time between reading AD values and |
| * re-enabling ADC, the real limit is (how much?) lower. |
| * The acc. sensor is sampled even if not used - or installed |
| * at all. The cost is not significant. |
| 241,9 → 241,9 |
|---|
| } |
| |
| /***************************************************** |
| * 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 |
| * 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) |
| 347,6 → 347,7 |
|---|
| if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near lower end of range. If the measurement saturates, the |
| // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
| DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
| airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| 353,6 → 354,7 |
|---|
| } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near upper end of range. If the measurement saturates, the |
| // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
| DebugOut.Digital[1] |= DEBUG_SENSORLIMIT; |
| airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| 360,6 → 362,7 |
|---|
| // normal case. |
| // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
| // The 2 cases above (end of range) are ignored for this. |
| DebugOut.Digital[1] &= ~DEBUG_SENSORLIMIT; |
| if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
| airPressureSum += simpleAirPressure / 2; |
| else |
| 389,10 → 392,14 |
|---|
| |
| if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
| if (tempGyro < SENSOR_MIN_PITCHROLL) { |
| DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| DebugOut.Digital[0] |= DEBUG_SENSORLIMIT; |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
| + SENSOR_MAX_PITCHROLL; |
| } else { |
| DebugOut.Digital[0] &= ~DEBUG_SENSORLIMIT; |
| } |
| } |
| |