0,0 → 1,541 |
#include <stdlib.h> |
#include <avr/io.h> |
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#include "attitude.h" |
#include "dongfangMath.h" |
#include "commands.h" |
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// 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;} |
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/* |
* 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; |
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// With different (less) filtering |
int16_t rate_PID[2]; |
int16_t differential[2]; |
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/* |
* 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; |
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/* |
* Gyro integrals. These are the rotation angles of the airframe compared to the |
* horizontal plane, yaw relative to yaw at start. |
*/ |
int32_t attitude[2]; |
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//int readingHeight = 0; |
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// Yaw angle and compass stuff. |
int32_t headingError; |
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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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uint16_t ignoreCompassTimer = 0;// 500; |
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int32_t heading; // Yaw Gyro Integral supported by compass |
int16_t yawGyroDrift; |
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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; |
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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. |
************************************************************************/ |
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int32_t getAngleEstimateFromAcc(uint8_t axis) { |
//int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm; |
// return 342L * filteredAcc[axis]; |
} |
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void setStaticAttitudeAngles(void) { |
#ifdef ATTITUDE_USE_ACC_SENSORS |
attitude[PITCH] = getAngleEstimateFromAcc(PITCH); |
attitude[ROLL] = getAngleEstimateFromAcc(ROLL); |
#else |
attitude[PITCH] = attitude[ROLL] = 0; |
#endif |
} |
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/************************************************************************ |
* 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(); |
#ifdef USE_MK3MAG |
attitude_resetHeadingToMagnetic(); |
#endif |
// Servo_On(); //enable servo output |
} |
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/************************************************************************ |
* 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; |
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analog_update(); |
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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]; |
} |
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averageAccCount++; |
yawRate = yawGyro + driftCompYaw; |
} |
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/* |
* 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 rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL; |
int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL; |
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int16_t cospitch = cos_360(pitchAngleInDegrees); |
int16_t cosroll = cos_360(rollAngleInDegrees); |
int16_t sinroll = sin_360(rollAngleInDegrees); |
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ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll |
- (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR); |
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ACRate[ROLL] = rate_ATT[ROLL] |
+ (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
>> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees)) |
>> LOG_MATH_UNIT_FACTOR); |
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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; |
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if (staticParams.bitConfig & CFG_AXIS_COUPLING_ENABLED) { |
trigAxisCoupling(); |
} else { |
ACRate[PITCH] = rate_ATT[PITCH]; |
ACRate[ROLL] = rate_ATT[ROLL]; |
ACYawRate = yawRate; |
} |
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/* |
* Yaw |
* Calculate yaw gyro integral (~ to rotation angle) |
* Limit heading proportional to 0 deg to 360 deg |
*/ |
heading += ACYawRate; |
intervalWrap(&heading, YAWOVER360); |
headingError += ACYawRate; |
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/* |
* Pitch axis integration and range boundary wrap. |
*/ |
for (axis = PITCH; axis <= ROLL; axis++) { |
attitude[axis] += ACRate[axis]; |
if (attitude[axis] > PITCHROLLOVER180) { |
attitude[axis] -= PITCHROLLOVER360; |
} else if (attitude[axis] <= -PITCHROLLOVER180) { |
attitude[axis] += PITCHROLLOVER360; |
} |
} |
} |
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void correctIntegralsByAcc0thOrder_old(void) { |
uint8_t axis; |
int32_t temp; |
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uint8_t ca = controlActivity >> 8; |
uint8_t highControlActivity = (ca > staticParams.maxControlActivity); |
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if (highControlActivity) { |
debugOut.digital[1] |= DEBUG_ACC0THORDER; |
} else { |
debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
} |
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if (accVector <= staticParams.maxAccVector) { |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
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uint8_t permilleAcc = staticParams.zerothOrderCorrection / 8; |
int32_t accDerived; |
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/* |
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; |
*/ |
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if (highControlActivity) { // reduce effect during stick control activity |
permilleAcc /= 4; |
if (controlActivity > staticParams.maxControlActivity * 2) { // reduce effect during stick control activity |
permilleAcc /= 4; |
} |
} |
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/* |
* 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] = accDerived / (GYRO_DEG_FACTOR_PITCHROLL / 10); |
// 1000 * the correction amount that will be added to the gyro angle in next line. |
temp = attitude[axis]; |
attitude[axis] = ((int32_t) (1000L - permilleAcc) * temp |
+ (int32_t) permilleAcc * accDerived) / 1000L; |
correctionSum[axis] += attitude[axis] - temp; |
} |
} else { |
// experiment: Kill drift compensation updates when not flying smooth. |
// correctionSum[PITCH] = correctionSum[ROLL] = 0; |
debugOut.digital[0] |= DEBUG_ACC0THORDER; |
} |
} |
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/************************************************************************ |
* 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. |
************************************************************************/ |
#define LOG_DIVIDER 12 |
#define DIVIDER (1L << LOG_DIVIDER) |
void correctIntegralsByAcc0thOrder_new(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; |
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// for debug LEDs, to be removed with that. |
static uint8_t controlActivityFlash=1; |
static uint8_t accFlash=1; |
#define CF_MAX 10 |
// [1..n[=off [n..10]=on |
// 1 -->1=on, 2=on, ..., 10=on |
// 2 -->1=off,2=on, ..., 10=on |
// 10-->1=off,2=off,..., 10=on |
// 11-->1=off,2=off,..., 10=off |
uint16_t ca = controlActivity >> 6; |
uint8_t controlActivityWeighted = ca / staticParams.zerothOrderCorrectionControlTolerance; |
if (!controlActivityWeighted) controlActivityWeighted = 1; |
uint8_t accVectorWeighted = accVector / staticParams.zerothOrderCorrectionAccTolerance; |
if (!accVectorWeighted) accVectorWeighted = 1; |
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uint8_t accPart = staticParams.zerothOrderCorrection; |
int32_t accDerived; |
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debugOut.analog[14] = controlActivity; |
debugOut.analog[15] = accVector; |
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debugOut.analog[20] = controlActivityWeighted; |
debugOut.analog[21] = accVectorWeighted; |
debugOut.analog[24] = accVector; |
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accPart /= controlActivityWeighted; |
accPart /= accVectorWeighted; |
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if (controlActivityFlash < controlActivityWeighted) { |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
} else { |
debugOut.digital[0] |= DEBUG_ACC0THORDER; |
} |
if (++controlActivityFlash > CF_MAX+1) controlActivityFlash=1; |
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if (accFlash < accVectorWeighted) { |
debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
} else { |
debugOut.digital[1] |= DEBUG_ACC0THORDER; |
} |
if (++accFlash > CF_MAX+1) accFlash=1; |
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/* |
* 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] = accDerived / (GYRO_DEG_FACTOR_PITCHROLL / 10); |
// 1000 * the correction amount that will be added to the gyro angle in next line. |
temp = attitude[axis]; |
attitude[axis] = ((int32_t) (DIVIDER - accPart) * temp + (int32_t)accPart * accDerived) >> LOG_DIVIDER; |
correctionSum[axis] += attitude[axis] - temp; |
} |
} |
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/************************************************************************ |
* 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; |
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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; |
} |
} |
} |
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void calculateAccVector(void) { |
int16_t temp; |
temp = filteredAcc[0] >> 3; |
accVector = temp * temp; |
temp = filteredAcc[1] >> 3; |
accVector += temp * temp; |
temp = filteredAcc[2] >> 3; |
accVector += temp * temp; |
} |
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#ifdef USE_MK3MAG |
void attitude_resetHeadingToMagnetic(void) { |
if (commands_isCalibratingCompass()) |
return; |
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// Compass is off, skip. |
if (!(staticParams.bitConfig & CFG_COMPASS_ENABLED)) |
return; |
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// Compass is invalid, skip. |
if (magneticHeading < 0) |
return; |
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heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
//targetHeading = heading; |
headingError = 0; |
} |
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void correctHeadingToMagnetic(void) { |
int32_t error; |
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if (commands_isCalibratingCompass()) { |
//debugOut.analog[30] = -1; |
return; |
} |
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// Compass is off, skip. |
// Naaah this is assumed. |
// if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE)) |
// return; |
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// Compass is invalid, skip. |
if (magneticHeading < 0) { |
//debugOut.analog[30] = -2; |
return; |
} |
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// Spinning fast, skip |
if (abs(yawRate) > 128) { |
// debugOut.analog[30] = -3; |
return; |
} |
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// Otherwise invalidated, skip |
if (ignoreCompassTimer) { |
ignoreCompassTimer--; |
//debugOut.analog[30] = -4; |
return; |
} |
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//debugOut.analog[30] = magneticHeading; |
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// TODO: Find computational cost of this. |
error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading); |
if (error <= -YAWOVER180) error += YAWOVER360; |
else if (error > YAWOVER180) error -= YAWOVER360; |
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// We only correct errors larger than the resolution of the compass, or else we would keep rounding the |
// better resolution of the gyros to the worse resolution of the compass all the time. |
// The correction should really only serve to compensate for gyro drift. |
if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
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int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
//debugOut.analog[30] = correction; |
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debugOut.digital[0] &= ~DEBUG_COMPASS; |
debugOut.digital[1] &= ~DEBUG_COMPASS; |
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if (correction > 0) { |
debugOut.digital[0] ^= DEBUG_COMPASS; |
} else if (correction < 0) { |
debugOut.digital[1] ^= DEBUG_COMPASS; |
} |
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// The correction is added both to current heading (the direction in which the copter thinks it is pointing) |
// and to the heading error (the angle of yaw that the copter is off the set heading). |
heading += correction; |
headingError += correction; |
intervalWrap(&heading, YAWOVER360); |
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// If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all |
// when the compass corrects the heading - it only corrects numbers!) we want to add: |
// This will however cause drift to remain uncorrected! |
// headingError += correction; |
//debugOut.analog[29] = 0; |
} |
#endif |
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/************************************************************************ |
* Main procedure. |
************************************************************************/ |
void calculateFlightAttitude(void) { |
getAnalogData(); |
calculateAccVector(); |
integrate(); |
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#ifdef ATTITUDE_USE_ACC_SENSORS |
if (staticParams.maxControlActivity) { |
correctIntegralsByAcc0thOrder_old(); |
} else { |
correctIntegralsByAcc0thOrder_new(); |
} |
driftCorrection(); |
#endif |
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// We are done reading variables from the analog module. |
// Interrupt-driven sensor reading may restart. |
startAnalogConversionCycle(); |
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#ifdef USE_MK3MAG |
if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED)) { |
correctHeadingToMagnetic(); |
} |
#endif |
} |
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/* |
* 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; |
} |
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void attitude_continueDynamicCalibration(void) { |
// measure dynamic offset now... |
dynamicCalPitch += hiResPitchGyro; |
dynamicCalRoll += hiResRollGyro; |
dynamicCalYaw += rawYawGyroSum; |
dynamicCalCount++; |
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// 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; |
} |
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// keep resetting these meanwhile, to avoid accumulating errors. |
setStaticAttitudeIntegrals(); |
yawAngle = 0; |
} |
*/ |