2,117 → 2,87 |
#include <avr/interrupt.h> |
#include <avr/pgmspace.h> |
#include <stdlib.h> |
#include <stdio.h> |
|
#include "analog.h" |
#include "attitude.h" |
#include "sensors.h" |
#include "printf_P.h" |
#include "mk3mag.h" |
|
// for Delay functions |
// for Delay functions used in calibration. |
#include "timer0.h" |
|
// For reading and writing acc. meter offsets. |
#include "eeprom.h" |
#include "debug.h" |
|
// For debugOut |
#include "output.h" |
|
// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
#define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
|
// TODO: Off to PROGMEM . |
const char* recal = ", recalibration needed."; |
|
/* |
* 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. |
* Gyro and accelerometer values for attitude computation. |
* Unfiltered (this is unnecessary as noise should get absorbed in DCM). |
* Normalized to rad/s. |
* Data flow: ADCs (1 iteration) --> samplingADCData --offsetting--> gyro_attitude_tmp |
* --rotation--> |
* [filtering] --> gyro_attitude. |
* Altimeter is also considered part of the "long" attitude loop. |
*/ |
volatile uint16_t sensorInputs[8]; |
int16_t acc[3]; |
int16_t filteredAcc[3] = { 0,0,0 }; |
Vector3f gyro_attitude; |
Vector3f accel; |
|
/* |
* 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. |
* This stuff is for the aircraft control thread. It runs in unprocessed integers. |
* (well some sort of scaling will be required). |
* Data flow: ADCs (1 iteration) -> samplingADCData -> [offsetting and rotation] -> |
* [filtering] --> gyro_control |
*/ |
int16_t gyro_PID[2]; |
int16_t gyro_ATT[2]; |
int16_t gyro_control[3]; |
int16_t gyroD[2]; |
int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
uint8_t gyroDWindowIdx = 0; |
int16_t yawGyro; |
int16_t magneticHeading; |
uint8_t gyroDWindowIdx; |
|
/* |
* Air pressure. TODO: Might as well convert to floats / well known units. |
*/ |
int32_t groundPressure; |
int16_t dHeight; |
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uint32_t gyroActivity; |
|
/* |
* 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 centered on zero. |
*/ |
|
sensorOffset_t gyroOffset; |
sensorOffset_t accOffset; |
sensorOffset_t accelOffset; |
sensorOffset_t gyroAmplifierOffset; |
|
/* |
* In the MK coordinate system, nose-down is positive and left-roll is positive. |
* If a sensor is used in an orientation where one but not both of the axes has |
* an opposite sign, PR_ORIENTATION_REVERSED is set to 1 (true). |
* Transform: |
* pitch <- pp*pitch + pr*roll |
* roll <- rp*pitch + rr*roll |
* Not reversed, GYRO_QUADRANT: |
* 0: pp=1, pr=0, rp=0, rr=1 // 0 degrees |
* 1: pp=1, pr=-1,rp=1, rr=1 // +45 degrees |
* 2: pp=0, pr=-1,rp=1, rr=0 // +90 degrees |
* 3: pp=-1,pr=-1,rp=1, rr=1 // +135 degrees |
* 4: pp=-1,pr=0, rp=0, rr=-1 // +180 degrees |
* 5: pp=-1,pr=1, rp=-1,rr=-1 // +225 degrees |
* 6: pp=0, pr=1, rp=-1,rr=0 // +270 degrees |
* 7: pp=1, pr=1, rp=-1,rr=1 // +315 degrees |
* Reversed, GYRO_QUADRANT: |
* 0: pp=-1,pr=0, rp=0, rr=1 // 0 degrees with pitch reversed |
* 1: pp=-1,pr=-1,rp=-1,rr=1 // +45 degrees with pitch reversed |
* 2: pp=0, pr=-1,rp=-1,rr=0 // +90 degrees with pitch reversed |
* 3: pp=1, pr=-1,rp=-1,rr=1 // +135 degrees with pitch reversed |
* 4: pp=1, pr=0, rp=0, rr=-1 // +180 degrees with pitch reversed |
* 5: pp=1, pr=1, rp=1, rr=-1 // +225 degrees with pitch reversed |
* 6: pp=0, pr=1, rp=1, rr=0 // +270 degrees with pitch reversed |
* 7: pp=-1,pr=1, rp=1, rr=1 // +315 degrees with pitch reversed |
* Redo this to that quadrant 0 is normal with an FC2.x. |
*/ |
|
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 |
int8_t xx = reverse ? rotationTab[(quadrant+4)%8] : rotationTab[quadrant]; |
int8_t xx = reverse ? rotationTab[(quadrant + 4) & 7] : rotationTab[quadrant]; // 1 |
// Roll to Pitch part |
int8_t xy = rotationTab[(quadrant+2)%8]; |
int8_t xy = rotationTab[(quadrant + 2) & 7]; // -1 |
// Pitch to Roll part |
int8_t yx = reverse ? rotationTab[(quadrant+2)%8] : rotationTab[(quadrant+6)%8]; |
int8_t yx = reverse ? rotationTab[(quadrant + 2) & 7] : rotationTab[(quadrant + 6) & 7]; // -1 |
// Roll to Roll part |
int8_t yy = rotationTab[quadrant]; |
int8_t yy = rotationTab[quadrant]; // -1 |
|
int16_t xIn = result[0]; |
result[0] = xx*xIn + xy*result[1]; |
result[1] = yx*xIn + yy*result[1]; |
int32_t tmp0, tmp1; |
|
tmp0 = xx * xIn + xy * result[1]; |
tmp1 = yx * xIn + yy * result[1]; |
|
if (quadrant & 1) { |
// A rotation was used above, where the factors were too large by sqrt(2). |
// So, we multiply by 2^n/sqt(2) and right shift n bits, as to divide by sqrt(2). |
// A suitable value for n: Sample is 11 bits. After transformation it is the sum |
// of 2 11 bit numbers, so 12 bits. We have 4 bits left... |
result[0] = (result[0]*11) >> 4; |
result[1] = (result[1]*11) >> 4; |
tmp0 = (tmp0 * 181L) >> 8; |
tmp1 = (tmp1 * 181L) >> 8; |
} |
|
result[0] = (int16_t) tmp0; |
result[1] = (int16_t) tmp1; |
} |
|
/* |
121,7 → 91,6 |
volatile uint8_t rangewidth = 105; |
|
// Direct from sensor, irrespective of range. |
// volatile uint16_t rawAirPressure; |
|
// Value of 2 samples, with range. |
uint16_t simpleAirPressure; |
143,7 → 112,7 |
int32_t airPressureSum; |
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// The number of samples summed into airPressureSum so far. |
uint8_t pressureMeasurementCount; |
uint8_t pressureSumCount; |
|
/* |
* Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
155,53 → 124,75 |
/* |
* Control and status. |
*/ |
volatile uint8_t analogDataReady = 1; |
volatile uint16_t samplingADCData[8]; |
volatile uint16_t attitudeADCData[8]; |
|
/* |
* Experiment: Measuring vibration-induced sensor noise. |
*/ |
uint16_t gyroNoisePeak[3]; |
uint16_t accNoisePeak[3]; |
volatile uint8_t analog_controlDataStatus = CONTROL_SENSOR_DATA_READY; |
volatile uint8_t analog_attitudeDataStatus = ATTITUDE_SENSOR_NO_DATA; |
// Number of ADC iterations done for current attitude loop. |
volatile uint8_t attitudeSumCount; |
|
volatile uint8_t adState; |
volatile uint8_t ADCSampleCount; |
volatile uint8_t adChannel; |
|
// ADC channels |
#define AD_GYRO_YAW 0 |
#define AD_GYRO_ROLL 1 |
#define AD_GYRO_PITCH 2 |
#define AD_AIRPRESSURE 3 |
#define AD_UBAT 4 |
#define AD_ACC_Z 5 |
#define AD_ACC_ROLL 6 |
#define AD_ACC_PITCH 7 |
|
/* |
* Table of AD converter inputs for each state. |
* 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 |
* 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. |
*/ |
|
const uint8_t channelsForStates[] PROGMEM = { |
AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
AD_GYRO_X, |
AD_GYRO_Y, |
AD_GYRO_Z, |
|
AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
AD_ACCEL_X, |
AD_ACCEL_Y, |
|
AD_ACC_PITCH, // at 12, finish pitch axis acc. |
AD_ACC_ROLL, // at 13, finish roll axis acc. |
AD_AIRPRESSURE, // at 14, finish air pressure. |
AD_GYRO_X, |
AD_GYRO_Y, |
//AD_GYRO_Z, |
|
AD_GYRO_PITCH, // at 15, finish pitch gyro |
AD_GYRO_ROLL, // at 16, finish roll gyro |
AD_UBAT // at 17, measure battery. |
AD_ACCEL_Z, |
AD_AIRPRESSURE, |
|
AD_GYRO_X, |
AD_GYRO_Y, |
AD_GYRO_Z, |
|
AD_ACCEL_X, |
AD_ACCEL_Y, |
|
AD_GYRO_X, |
AD_GYRO_Y, |
//AD_GYRO_Z, |
|
//AD_ACCEL_Z, |
//AD_AIRPRESSURE, |
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AD_GYRO_X, |
AD_GYRO_Y, |
AD_GYRO_Z, |
|
AD_ACCEL_X, |
AD_ACCEL_Y, |
|
AD_GYRO_X, |
AD_GYRO_Y, |
//AD_GYRO_Z, |
|
AD_ACCEL_Z, |
AD_AIRPRESSURE, |
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AD_GYRO_Y, |
AD_GYRO_X, |
AD_GYRO_Z, |
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AD_ACCEL_X, |
AD_ACCEL_Y, |
|
AD_GYRO_X, |
AD_GYRO_Y, |
// AD_GYRO_Z, |
|
//AD_ACCEL_Z, |
//AD_AIRPRESSURE, |
AD_UBAT |
}; |
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// Feature removed. Could be reintroduced later - but should work for all gyro types then. |
232,32 → 223,44 |
for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
airPressureWindow[i] = 0; |
} |
|
windowedAirPressure = 0; |
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startAnalogConversionCycle(); |
startADCCycle(); |
|
// restore global interrupt flags |
SREG = sreg; |
} |
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uint16_t rawGyroValue(uint8_t axis) { |
return sensorInputs[AD_GYRO_PITCH-axis]; |
// Convert axis number (X, Y, Z to ADC channel mapping (1, 2, 0) |
uint16_t gyroValue(uint8_t axis, volatile uint16_t dataArray[]) { |
switch (axis) { |
case X: |
return dataArray[AD_GYRO_X]; |
case Y: |
return dataArray[AD_GYRO_Y]; |
case Z: |
return dataArray[AD_GYRO_Z]; |
default: |
return 0; // should never happen. |
} |
} |
|
uint16_t rawAccValue(uint8_t axis) { |
return sensorInputs[AD_ACC_PITCH-axis]; |
uint16_t gyroValueForFC13DACCalibration(uint8_t axis) { |
return gyroValue(axis, samplingADCData); |
} |
|
void measureNoise(const int16_t sensor, |
volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
if (sensor > (int16_t) (*noiseMeasurement)) { |
*noiseMeasurement = sensor; |
} else if (-sensor > (int16_t) (*noiseMeasurement)) { |
*noiseMeasurement = -sensor; |
} else if (*noiseMeasurement > damping) { |
*noiseMeasurement -= damping; |
} else { |
*noiseMeasurement = 0; |
// Convert axis number (X, Y, Z to ADC channel mapping (6, 7, 5) |
uint16_t accValue(uint8_t axis, volatile uint16_t dataArray[]) { |
switch (axis) { |
case X: |
return dataArray[AD_ACCEL_X]; |
case Y: |
return dataArray[AD_ACCEL_Y]; |
case Z: |
return dataArray[AD_ACCEL_Z]; |
default: |
return 0; // should never happen. |
} |
} |
|
266,176 → 269,205 |
* Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
*/ |
uint16_t getSimplePressure(int advalue) { |
uint16_t result = (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
result += (acc[Z] * (staticParams.airpressureAccZCorrection-128)) >> 10; |
uint16_t result = (uint16_t) OCR0A * /*(uint16_t)*/ rangewidth + advalue; |
result += (/*accel.z*/0 * (staticParams.airpressureAccZCorrection - 128)) >> 10; |
return result; |
} |
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void startAnalogConversionCycle(void) { |
analogDataReady = 0; |
|
// Stop the sampling. Cycle is over. |
void startADCCycle(void) { |
for (uint8_t i = 0; i < 8; i++) { |
sensorInputs[i] = 0; |
samplingADCData[i] = 0; |
} |
adState = 0; |
adChannel = AD_GYRO_PITCH; |
ADCSampleCount = 0; |
adChannel = AD_GYRO_X; |
ADMUX = (ADMUX & 0xE0) | adChannel; |
analog_controlDataStatus = CONTROL_SENSOR_SAMPLING_DATA; |
J4HIGH; |
startADC(); |
} |
|
/***************************************************** |
* Interrupt Service Routine for ADC |
* Runs at 312.5 kHz or 3.2 �s. When all states are |
* processed further conversions are stopped. |
* Runs at 12 kHz. When all states are processed |
* further conversions are stopped. |
*****************************************************/ |
ISR(ADC_vect) { |
sensorInputs[adChannel] += ADC; |
samplingADCData[adChannel] += ADC; |
// set up for next state. |
adState++; |
if (adState < sizeof(channelsForStates)) { |
adChannel = pgm_read_byte(&channelsForStates[adState]); |
ADCSampleCount++; |
if (ADCSampleCount < sizeof(channelsForStates)) { |
adChannel = pgm_read_byte(&channelsForStates[ADCSampleCount]); |
// set adc muxer to next adChannel |
ADMUX = (ADMUX & 0xE0) | adChannel; |
// after full cycle stop further interrupts |
startADC(); |
} else { |
analogDataReady = 1; |
J4LOW; |
analog_controlDataStatus = CONTROL_SENSOR_DATA_READY; |
// do not restart ADC converter. |
} |
} |
|
void measureGyroActivity(int16_t newValue) { |
gyroActivity += newValue * newValue; |
// abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
/* |
* Used in calibration only! |
* Wait the specified number of millis, and then run a full sensor ADC cycle. |
*/ |
void waitADCCycle(uint16_t delay) { |
delay_ms(delay); |
startADCCycle(); |
while(analog_controlDataStatus != CONTROL_SENSOR_DATA_READY) |
; |
} |
|
#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; |
} |
|
void analog_updateControlData(void) { |
/* |
if (gyroActivity >= 10) gyroActivity -= 10; |
else if (gyroActivity <=- 10) gyroActivity += 10; |
* 1) Near-saturation boost (dont bother with Z) |
* 2) Offset |
* 3) Rotation |
* 4) Filter |
* 5) Extract gyroD (should this be without near-saturation boost really? Ignore issue) |
*/ |
} |
|
void analog_updateGyros(void) { |
// for various filters... |
int16_t tempOffsetGyro[2], tempGyro; |
int16_t tempOffsetGyro[2]; |
int16_t tempGyro; |
|
debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
for (uint8_t axis=0; axis<2; axis++) { |
tempGyro = rawGyroValue(axis); |
for (uint8_t axis=X; axis<=Y; axis++) { |
tempGyro = gyroValue(axis, samplingADCData); |
//debugOut.analog[3 + axis] = tempGyro; |
//debugOut.analog[3 + 2] = gyroValue(Z, samplingADCData); |
|
/* |
* 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. |
// There is hardly any reason to bother extrapolating yaw. |
|
if (staticParams.bitConfig & CFG_GYRO_SATURATION_PREVENTION) { |
if (tempGyro < SENSOR_MIN_PITCHROLL) { |
if (tempGyro < SENSOR_MIN_XY) { |
debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
} else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
} else if (tempGyro > SENSOR_MAX_XY) { |
debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
tempGyro = (tempGyro - SENSOR_MAX_XY) * EXTRAPOLATION_SLOPE + SENSOR_MAX_XY; |
} |
} |
|
// 2) Apply sign and offset, scale before filtering. |
tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
// 2) Apply offset (rotation will take care of signs). |
tempOffsetGyro[axis] = tempGyro - gyroOffset.offsets[axis]; |
} |
|
// 2.1: Transform axes. |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_XY); |
|
for (uint8_t axis=0; axis<2; axis++) { |
// 3) Filter. |
tempOffsetGyro[axis] = (gyro_PID[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
for (uint8_t axis=X; axis<=Y; axis++) { |
// Filter. There is no filter for Z and no need for one. |
|
// 4) Measure noise. |
measureNoise(tempOffsetGyro[axis], &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
|
tempGyro = (gyro_control[axis] * (IMUConfig.gyroPIDFilterConstant - 1) + tempOffsetGyro[axis]) / IMUConfig.gyroPIDFilterConstant; |
// 5) Differential measurement. |
// gyroD[axis] = (gyroD[axis] * (staticParams.gyroDFilterConstant - 1) + (tempOffsetGyro[axis] - gyro_PID[axis])) / staticParams.gyroDFilterConstant; |
int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
int16_t diff = tempGyro - gyro_control[axis]; |
gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
gyroD[axis] += diff; |
gyroDWindow[axis][gyroDWindowIdx] = diff; |
|
// 6) Done. |
gyro_PID[axis] = tempOffsetGyro[axis]; |
gyro_control[axis] = tempGyro; |
} |
|
// Prepare tempOffsetGyro for next calculation below... |
tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]) * GYRO_FACTOR_PITCHROLL; |
if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
gyroDWindowIdx = 0; |
} |
|
/* |
* Now process the data for attitude angles. |
*/ |
rotate(tempOffsetGyro, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_PR); |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_Z) |
tempGyro = gyroOffset.offsets[Z] - gyroValue(Z, samplingADCData); |
else |
tempGyro = gyroValue(Z, samplingADCData) - gyroOffset.offsets[Z]; |
|
dampenGyroActivity(); |
gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
gyro_control[Z] = tempGyro; |
|
startADCCycle(); |
} |
|
/* |
measureGyroActivity(tempOffsetGyro[PITCH]); |
measureGyroActivity(tempOffsetGyro[ROLL]); |
* The uint16s can take a max. of 1<<16-10) = 64 samples summed. |
* Assuming a max oversampling count of 8 for the control loop, this is 8 control loop iterations |
* summed. After 8 are reached, we just throw away all further data. This (that the attitude loop |
* is more than 8 times slower than the control loop) should not happen anyway so there is no waste. |
*/ |
measureGyroActivity(gyroD[PITCH]); |
measureGyroActivity(gyroD[ROLL]); |
#define MAX_OVEROVERSAMPLING_COUNT 8 |
|
// We measure activity of yaw by plain gyro value and not d/dt, because: |
// - There is no drift correction anyway |
// - Effect of steady circular flight would vanish (it should have effect). |
// int16_t diff = yawGyro; |
// Yaw gyro. |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_YAW) |
yawGyro = gyroOffset.offsets[YAW] - sensorInputs[AD_GYRO_YAW]; |
else |
yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW]; |
void analog_sumAttitudeData(void) { |
// From when this procedure completes, there is attitude data available. |
if (analog_attitudeDataStatus == ATTITUDE_SENSOR_NO_DATA) |
analog_attitudeDataStatus = ATTITUDE_SENSOR_DATA_READY; |
|
// diff -= yawGyro; |
// gyroD[YAW] -= gyroDWindow[YAW][gyroDWindowIdx]; |
// gyroD[YAW] += diff; |
// gyroDWindow[YAW][gyroDWindowIdx] = diff; |
|
// gyroActivity += (uint32_t)(abs(yawGyro)* IMUConfig.yawRateFactor); |
measureGyroActivity(yawGyro); |
|
if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
gyroDWindowIdx = 0; |
if (analog_attitudeDataStatus == ATTITUDE_SENSOR_DATA_READY && attitudeSumCount < MAX_OVEROVERSAMPLING_COUNT) { |
for (uint8_t i = 0; i < 8; i++) { |
attitudeADCData[i] += samplingADCData[i]; |
} |
attitudeSumCount++; |
debugOut.analog[24] = attitudeSumCount; |
} |
|
void analog_updateAccelerometers(void) { |
// Pitch and roll axis accelerations. |
for (uint8_t axis=0; axis<2; axis++) { |
acc[axis] = rawAccValue(axis) - accOffset.offsets[axis]; |
} |
|
rotate(acc, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_XY); |
for(uint8_t axis=0; axis<3; axis++) { |
filteredAcc[axis] = (filteredAcc[axis] * (IMUConfig.accFilterConstant - 1) + acc[axis]) / IMUConfig.accFilterConstant; |
measureNoise(acc[axis], &accNoisePeak[axis], 1); |
void clearAttitudeData(void) { |
for (uint8_t i = 0; i < 8; i++) { |
attitudeADCData[i] = 0; |
} |
attitudeSumCount = 0; |
analog_attitudeDataStatus = ATTITUDE_SENSOR_NO_DATA; |
} |
|
void updateAttitudeVectors(void) { |
/* |
int16_t gyro_attitude_tmp[3]; |
Vector3f gyro_attitude; |
Vector3f accel; |
*/ |
|
int16_t tmpSensor[3]; |
|
// prevent gyro_attitude_tmp and attitudeSumCount from being updated. |
// TODO: This only prevents interrupts from starting. Well its good enough really? |
analog_attitudeDataStatus = ATTITUDE_SENSOR_READING_DATA; |
|
tmpSensor[X] = gyroValue(X, attitudeADCData) - gyroOffset.offsets[X] * attitudeSumCount; |
tmpSensor[Y] = gyroValue(Y, attitudeADCData) - gyroOffset.offsets[Y] * attitudeSumCount; |
|
rotate(tmpSensor, IMUConfig.gyroQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_XY); |
|
if (IMUConfig.imuReversedFlags & IMU_REVERSE_GYRO_Z) |
tmpSensor[Z] = gyroOffset.offsets[Z] * attitudeSumCount - gyroValue(Z, attitudeADCData); |
else |
tmpSensor[Z] = gyroValue(Z, attitudeADCData) - gyroOffset.offsets[Z] * attitudeSumCount; |
|
gyro_attitude.x = ((float) tmpSensor[X]) / (GYRO_RATE_FACTOR_XY * attitudeSumCount); |
gyro_attitude.y = ((float) tmpSensor[Y]) / (GYRO_RATE_FACTOR_XY * attitudeSumCount); |
gyro_attitude.z = ((float) tmpSensor[Z]) / (GYRO_RATE_FACTOR_Z * attitudeSumCount); |
|
// Done with gyros. Now accelerometer: |
tmpSensor[X] = accValue(X, attitudeADCData) - accelOffset.offsets[X] * attitudeSumCount; |
tmpSensor[Y] = accValue(Y, attitudeADCData) - accelOffset.offsets[Y] * attitudeSumCount; |
|
rotate(tmpSensor, IMUConfig.accQuadrant, IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_XY); |
|
// Z acc. |
if (IMUConfig.imuReversedFlags & 8) |
acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) |
tmpSensor[Z] = accelOffset.offsets[Z] * attitudeSumCount - accValue(Z, attitudeADCData); |
else |
acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
tmpSensor[Z] = accValue(Z, attitudeADCData) - accelOffset.offsets[Z] * attitudeSumCount; |
|
// debugOut.analog[29] = acc[Z]; |
// Blarh!!! We just skip acc filtering. There are trillions of samples already. |
accel.x = (float)tmpSensor[X] / (ACCEL_FACTOR_XY * attitudeSumCount); // (accel.x + (float)tmpSensor[X] / (ACCEL_FACTOR_XY * attitudeSumCount)) / 2.0; |
accel.y = (float)tmpSensor[Y] / (ACCEL_FACTOR_XY * attitudeSumCount); // (accel.y + (float)tmpSensor[Y] / (ACCEL_FACTOR_XY * attitudeSumCount)) / 2.0; |
accel.z = (float)tmpSensor[Z] / (ACCEL_FACTOR_Z * attitudeSumCount); // (accel.z + (float)tmpSensor[Z] / (ACCEL_FACTOR_Z * attitudeSumCount)) / 2.0; |
|
for (uint8_t i=0; i<3; i++) { |
debugOut.analog[3 + i] = (int16_t)(gyro_attitude[i] * 100); |
debugOut.analog[6 + i] = (int16_t)(accel[i] * 100); |
} |
} |
|
void analog_updateAirPressure(void) { |
static uint16_t pressureAutorangingWait = 25; |
446,10 → 478,10 |
//A range switch was done recently. Wait for steadying. |
pressureAutorangingWait--; |
} else { |
rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
rawAirPressure = attitudeADCData[AD_AIRPRESSURE] / attitudeSumCount; |
if (rawAirPressure < MIN_RAWPRESSURE) { |
// value is too low, so decrease voltage on the op amp minus input, making the value higher. |
newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); |
if (newrange > MIN_RANGES_EXTRAPOLATION) { |
pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
OCR0A = newrange; |
462,7 → 494,7 |
} else if (rawAirPressure > MAX_RAWPRESSURE) { |
// value is too high, so increase voltage on the op amp minus input, making the value lower. |
// If near the end, make a limited increase |
newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); |
if (newrange < MAX_RANGES_EXTRAPOLATION) { |
pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
OCR0A = newrange; |
477,7 → 509,7 |
// Even if the sample is off-range, use it. |
simpleAirPressure = getSimplePressure(rawAirPressure); |
|
if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
if (simpleAirPressure < (uint16_t)(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; |
484,7 → 516,7 |
airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
+ (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
* rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
} else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
} else if (simpleAirPressure > (uint16_t)(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; |
500,9 → 532,9 |
} |
|
// 2 samples were added. |
pressureMeasurementCount += 2; |
// Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 14 haha...) |
if (pressureMeasurementCount == AIRPRESSURE_OVERSAMPLING) { |
pressureSumCount += 2; |
// Assumption here: AIRPRESSURE_OVERSAMPLING is even (well we all know it's 28...) |
if (pressureSumCount == AIRPRESSURE_OVERSAMPLING) { |
|
// The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
airPressureSum += simpleAirPressure >> 2; |
510,14 → 542,18 |
uint32_t lastFilteredAirPressure = filteredAirPressure; |
|
if (!staticParams.airpressureWindowLength) { |
filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
+ airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
filteredAirPressure = (filteredAirPressure |
* (staticParams.airpressureFilterConstant - 1) |
+ airPressureSum |
+ staticParams.airpressureFilterConstant / 2) |
/ staticParams.airpressureFilterConstant; |
} else { |
// use windowed. |
windowedAirPressure += simpleAirPressure; |
windowedAirPressure -= airPressureWindow[windowPtr]; |
airPressureWindow[windowPtr++] = simpleAirPressure; |
if (windowPtr >= staticParams.airpressureWindowLength) windowPtr = 0; |
if (windowPtr >= staticParams.airpressureWindowLength) |
windowPtr = 0; |
filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
} |
|
528,26 → 564,31 |
// remove old sample (fifo) from window. |
dHeight += dAirPressureWindow[dWindowPtr]; |
dAirPressureWindow[dWindowPtr++] = diff; |
if (dWindowPtr >= staticParams.airpressureDWindowLength) dWindowPtr = 0; |
pressureMeasurementCount = airPressureSum = 0; |
if (dWindowPtr >= staticParams.airpressureDWindowLength) |
dWindowPtr = 0; |
pressureSumCount = airPressureSum = 0; |
} |
} |
|
debugOut.analog[25] = simpleAirPressure; |
debugOut.analog[26] = OCR0A; |
debugOut.analog[27] = filteredAirPressure; |
} |
|
void analog_updateBatteryVoltage(void) { |
// Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
// This is divided by 3 --> 10.34 counts per volt. |
UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
UBat = (3 * UBat + attitudeADCData[AD_UBAT] / 3) / 4; |
} |
|
void analog_update(void) { |
analog_updateGyros(); |
analog_updateAccelerometers(); |
void analog_updateAttitudeData(void) { |
updateAttitudeVectors(); |
|
// TODO: These are waaaay off by now. |
analog_updateAirPressure(); |
analog_updateBatteryVoltage(); |
#ifdef USE_MK3MAG |
magneticHeading = volatileMagneticHeading; |
#endif |
|
clearAttitudeData(); |
} |
|
void analog_setNeutral() { |
555,19 → 596,26 |
|
if (gyroOffset_readFromEEProm()) { |
printf("gyro offsets invalid%s",recal); |
gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING_PITCHROLL; |
gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING_YAW; |
gyroOffset.offsets[X] = gyroOffset.offsets[Y] = 512 * GYRO_OVERSAMPLING_XY; |
gyroOffset.offsets[Z] = 512 * GYRO_OVERSAMPLING_Z; |
// This will get the DACs for FC1.3 to offset to a reasonable value. |
gyro_calibrate(); |
} |
|
if (accOffset_readFromEEProm()) { |
if (accelOffset_readFromEEProm()) { |
printf("acc. meter offsets invalid%s",recal); |
accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
accelOffset.offsets[X] = accelOffset.offsets[Y] = 512 * ACCEL_OVERSAMPLING_XY; |
accelOffset.offsets[Z] = 512 * ACCEL_OVERSAMPLING_Z; |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) { |
accelOffset.offsets[Z] -= ACCEL_G_FACTOR_Z; |
} else { |
accelOffset.offsets[Z] += ACCEL_G_FACTOR_Z; |
} |
} |
|
// Noise is relative to offset. So, reset noise measurements when changing offsets. |
for (uint8_t i=PITCH; i<=ROLL; i++) { |
gyroNoisePeak[i] = 0; |
for (uint8_t i=X; i<=Y; i++) { |
// gyroNoisePeak[i] = 0; |
gyroD[i] = 0; |
for (uint8_t j=0; j<GYRO_D_WINDOW_LENGTH; j++) { |
gyroDWindow[i][j] = 0; |
575,36 → 623,37 |
} |
// Setting offset values has an influence in the analog.c ISR |
// Therefore run measurement for 100ms to achive stable readings |
delay_ms_with_adc_measurement(100, 0); |
|
gyroActivity = 0; |
waitADCCycle(100); |
} |
|
void analog_calibrateGyros(void) { |
#define GYRO_OFFSET_CYCLES 32 |
#define GYRO_OFFSET_CYCLES 100 |
uint8_t i, axis; |
int32_t offsets[3] = { 0, 0, 0 }; |
|
flightControlStatus = BLOCKED_FOR_CALIBRATION; |
delay_ms(10); |
|
gyro_calibrate(); |
|
// 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_with_adc_measurement(10, 1); |
for (axis = PITCH; axis <= YAW; axis++) { |
offsets[axis] += rawGyroValue(axis); |
waitADCCycle(5); |
for (axis=X; axis<=Z; axis++) { |
offsets[axis] += gyroValue(axis, samplingADCData); |
} |
} |
|
for (axis = PITCH; axis <= YAW; axis++) { |
for (axis=X; axis<=Z; axis++) { |
gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
|
int16_t min = (512-200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
int16_t max = (512+200) * (axis==YAW) ? GYRO_OVERSAMPLING_YAW : GYRO_OVERSAMPLING_PITCHROLL; |
int16_t min = (512 - 200) * (axis==Z) ? GYRO_OVERSAMPLING_Z : GYRO_OVERSAMPLING_XY; |
int16_t max = (512 + 200) * (axis==Z) ? GYRO_OVERSAMPLING_Z : GYRO_OVERSAMPLING_XY; |
if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_X << axis; |
} |
|
gyroOffset_writeToEEProm(); |
startAnalogConversionCycle(); |
//startADCCycle(); |
} |
|
/* |
615,59 → 664,62 |
* directly from here, though. |
*/ |
void analog_calibrateAcc(void) { |
#define ACC_OFFSET_CYCLES 32 |
#define ACCEL_OFFSET_CYCLES 100 |
uint8_t i, axis; |
int32_t offsets[3] = { 0, 0, 0 }; |
|
for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
delay_ms_with_adc_measurement(10, 1); |
for (axis = PITCH; axis <= YAW; axis++) { |
offsets[axis] += rawAccValue(axis); |
flightControlStatus = BLOCKED_FOR_CALIBRATION; |
delay_ms(10); |
|
for (i = 0; i < ACCEL_OFFSET_CYCLES; i++) { |
waitADCCycle(5); |
for (axis=X; axis<=Z; axis++) { |
offsets[axis] += accValue(axis, samplingADCData); |
} |
} |
|
for (axis = PITCH; axis <= YAW; axis++) { |
accOffset.offsets[axis] = (offsets[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
for (axis=X; axis<=Z; axis++) { |
accelOffset.offsets[axis] = (offsets[axis] + ACCEL_OFFSET_CYCLES / 2) / ACCEL_OFFSET_CYCLES; |
int16_t min,max; |
if (axis==Z) { |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACC_Z) { |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) { |
// TODO: This assumes a sensitivity of +/- 2g. |
min = (256-200) * ACC_OVERSAMPLING_Z; |
max = (256+200) * ACC_OVERSAMPLING_Z; |
min = (256 - 200) * ACCEL_OVERSAMPLING_Z; |
max = (256 + 200) * ACCEL_OVERSAMPLING_Z; |
} else { |
// TODO: This assumes a sensitivity of +/- 2g. |
min = (768-200) * ACC_OVERSAMPLING_Z; |
max = (768+200) * ACC_OVERSAMPLING_Z; |
min = (768 - 200) * ACCEL_OVERSAMPLING_Z; |
max = (768 + 200) * ACCEL_OVERSAMPLING_Z; |
} |
} else { |
min = (512-200) * ACC_OVERSAMPLING_XY; |
max = (512+200) * ACC_OVERSAMPLING_XY; |
min = (512 - 200) * ACCEL_OVERSAMPLING_XY; |
max = (512 + 200) * ACCEL_OVERSAMPLING_XY; |
} |
if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) { |
versionInfo.hardwareErrors[0] |= FC_ERROR0_ACC_X << axis; |
versionInfo.hardwareErrors[0] |= FC_ERROR0_ACCEL_X << axis; |
} |
} |
|
accOffset_writeToEEProm(); |
startAnalogConversionCycle(); |
if (IMUConfig.imuReversedFlags & IMU_REVERSE_ACCEL_Z) { |
accelOffset.offsets[Z] -= ACCEL_G_FACTOR_Z; |
} else { |
accelOffset.offsets[Z] += ACCEL_G_FACTOR_Z; |
} |
|
accelOffset_writeToEEProm(); |
// startADCCycle(); |
} |
|
void analog_setGround() { |
groundPressure = filteredAirPressure; |
} |
|
int32_t analog_getHeight(void) { |
return groundPressure - filteredAirPressure; |
int32_t height = groundPressure - filteredAirPressure; |
debugOut.analog[28] = height; |
return height; |
} |
|
int16_t analog_getDHeight(void) { |
/* |
int16_t result = 0; |
for (int i=0; i<staticParams.airpressureDWindowLength; i++) { |
result -= dAirPressureWindow[i]; // minus pressure is plus height. |
} |
// dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
return result; |
*/ |
return dHeight; |
} |