0,0 → 1,532 |
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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" |
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// where our main data flow comes from. |
#include "analog.h" |
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#include "configuration.h" |
#include "output.h" |
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// Some calculations are performed depending on some stick related things. |
#include "controlMixer.h" |
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#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[2]; |
|
/* |
* 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; |
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int readingHeight = 0; |
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// Yaw angle and compass stuff. |
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// This is updated/written from MM3. Negative angle indicates invalid data. |
int16_t compassHeading = -1; |
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// This is NOT updated from MM3. Negative angle indicates invalid data. |
int16_t compassCourse = -1; |
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// The difference between the above 2 (heading - course) on a -180..179 degree interval. |
// Not necessary. Never read anywhere. |
// int16_t compassOffCourse = 0; |
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uint8_t updateCompassCourse = 0; |
uint8_t compassCalState = 0; |
uint16_t ignoreCompassTimer = 500; |
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int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
int16_t yawGyroDrift; |
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#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
#define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
|
int16_t correctionSum[2] = { 0, 0 }; |
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// For NaviCTRL use. |
int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
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/* |
* 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; |
|
uint16_t accVector; |
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/************************************************************************ |
* 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) { |
int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis] + correctionTerm; |
} |
|
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. |
dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0; |
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driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
correctionSum[PITCH] = correctionSum[ROLL] = 0; |
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// Calibrate hardware. |
analog_setNeutral(); |
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// reset gyro integrals to acc guessing |
setStaticAttitudeAngles(); |
yawAngleDiff = 0; |
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// update compass course to current heading |
compassCourse = compassHeading; |
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// Inititialize YawGyroIntegral value with current compass heading |
yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
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// 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; |
|
analog_update(); |
|
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]; |
} |
|
averageAccCount++; |
yawRate = yawGyro + driftCompYaw; |
|
// We are done reading variables from the analog module. |
// Interrupt-driven sensor reading may restart. |
startAnalogConversionCycle(); |
} |
|
/* |
* 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; |
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ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
} |
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// 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.bitConfig & 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; |
|
uint8_t ca = controlActivity >> 8; |
uint8_t highControlActivity = (ca > staticParams.maxControlActivity); |
|
if (highControlActivity) { |
debugOut.digital[1] |= DEBUG_ACC0THORDER; |
} else { |
debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
} |
|
if (accVector <= dynamicParams.maxAccVector) { |
debugOut.digital[0] |= DEBUG_ACC0THORDER; |
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uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
int32_t accDerived; |
|
/* |
if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
permilleAcc /= 2; |
debugFullWeight = 0; |
} |
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if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
permilleAcc /= 2; |
debugFullWeight = 0; |
*/ |
|
if (highControlActivity) { // reduce effect during stick control activity |
permilleAcc /= 4; |
if (controlActivity > staticParams.maxControlActivity*2) { // reduce effect during stick control activity |
permilleAcc /= 4; |
} |
} |
|
/* |
* 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]; |
angle[axis] = ((int32_t) (1000L - permilleAcc) * temp |
+ (int32_t) permilleAcc * accDerived) / 1000L; |
correctionSum[axis] += angle[axis] - temp; |
} |
} else { |
debugOut.analog[9] = 0; |
debugOut.analog[10] = 0; |
// experiment: Kill drift compensation updates when not flying smooth. |
// correctionSum[PITCH] = correctionSum[ROLL] = 0; |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
} |
} |
|
/************************************************************************ |
* 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.driftCompDivider; |
CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
// DebugOut.Analog[11 + axis] = correctionSum[axis]; |
// DebugOut.Analog[16 + axis] = correctionSum[axis]; |
debugOut.analog[28 + axis] = driftComp[axis]; |
|
correctionSum[axis] = 0; |
} |
} |
} |
|
void calculateAccVector(void) { |
uint16_t temp; |
temp = filteredAcc[0]/4; |
accVector = temp * temp; |
temp = filteredAcc[1]/4; |
accVector += temp * temp; |
temp = filteredAcc[2]/4; |
accVector += temp * temp; |
debugOut.analog[18] = accVector; |
debugOut.analog[19] = dynamicParams.maxAccVector; |
} |
|
/************************************************************************ |
* Main procedure. |
************************************************************************/ |
void calculateFlightAttitude(void) { |
getAnalogData(); |
calculateAccVector(); |
integrate(); |
|
#ifdef ATTITUDE_USE_ACC_SENSORS |
correctIntegralsByAcc0thOrder(); |
driftCorrection(); |
#endif |
} |
|
void updateCompass(void) { |
int16_t w, v, r, correction, error; |
|
if (compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
if (controlMixer_testCompassCalState()) { |
compassCalState++; |
if (compassCalState < 5) |
beepNumber(compassCalState); |
else |
beep(1000); |
} |
} else { |
// get maximum attitude angle |
w = abs(angle[PITCH] / 512); |
v = abs(angle[ROLL] / 512); |
if (v > w) |
w = v; |
correction = w / 8 + 1; |
// calculate the deviation of the yaw gyro heading and the compass heading |
if (compassHeading < 0) |
error = 0; // disable yaw drift compensation if compass heading is undefined |
else if (abs(yawRate) > 128) { // spinning fast |
error = 0; |
} else { |
// compassHeading - yawGyroHeading, on a -180..179 deg interval. |
error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) |
% 360) - 180; |
} |
if (!ignoreCompassTimer && w < 25) { |
yawGyroDrift += error; |
// Basically this gets set if we are in "fix" mode, and when starting. |
if (updateCompassCourse) { |
beep(200); |
yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
compassCourse = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
updateCompassCourse = 0; |
} |
} |
yawGyroHeading += (error * 8) / correction; |
|
/* |
w = (w * dynamicParams.CompassYawEffect) / 32; |
w = dynamicParams.CompassYawEffect - w; |
*/ |
w = dynamicParams.compassYawEffect - (w * dynamicParams.compassYawEffect) |
/ 32; |
|
// As readable formula: |
// w = dynamicParams.CompassYawEffect * (1-w/32); |
|
if (w >= 0) { // maxAttitudeAngle < 32 |
if (!ignoreCompassTimer) { |
/*v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;*/ |
v = 64 + controlActivity / 100; |
// yawGyroHeading - compassCourse on a -180..179 degree interval. |
r |
= ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse) |
% 360) - 180; |
v = (r * w) / v; // align to compass course |
// limit yaw rate |
w = 3 * dynamicParams.compassYawEffect; |
if (v > w) |
v = w; |
else if (v < -w) |
v = -w; |
yawAngleDiff += v; |
} else { // wait a while |
ignoreCompassTimer--; |
} |
} else { // ignore compass at extreme attitudes for a while |
ignoreCompassTimer = 500; |
} |
} |
} |
|
/* |
* This is part of an experiment to measure average sensor offsets caused by motor vibration, |
* and to compensate them away. It brings about some improvement, but no miracles. |
* As long as the left stick is kept in the start-motors position, the dynamic compensation |
* will measure the effect of vibration, to use for later compensation. So, one should keep |
* the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
* speed unfortunately... must find a better way) |
*/ |
/* |
void attitude_startDynamicCalibration(void) { |
dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
} |
|
void attitude_continueDynamicCalibration(void) { |
// measure dynamic offset now... |
dynamicCalPitch += hiResPitchGyro; |
dynamicCalRoll += hiResRollGyro; |
dynamicCalYaw += rawYawGyroSum; |
dynamicCalCount++; |
|
// Param6: Manual mode. The offsets are taken from Param7 and Param8. |
if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
// manual mode |
driftCompPitch = dynamicParams.UserParam7 - 128; |
driftCompRoll = dynamicParams.UserParam8 - 128; |
} else { |
// use the sampled value (does not seem to work so well....) |
driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
driftCompYaw = -dynamicCalYaw / dynamicCalCount; |
} |
|
// keep resetting these meanwhile, to avoid accumulating errors. |
setStaticAttitudeIntegrals(); |
yawAngle = 0; |
} |
*/ |