| 6,141 → 6,23 |
|---|
| #define _ATTITUDE_H |
| |
| #include <inttypes.h> |
| #include <math.h> |
| |
| #include "analog.h" |
| #include "timer0.h" |
| //#include "timer0.h" |
| //#define _PI 3.1415926535897932384626433832795 |
| |
| /* |
| * If you have no acc. sensor or do not want to use it, remove this define. This will cause the |
| * acc. sensor to be ignored at attitude calibration. |
| */ |
| #define ATTITUDE_USE_ACC_SENSORS yes |
| #define ACC_MS2_FACTOR (1.0f / ACC_G_FACTOR_XY) |
| |
| /* |
| * Default hysteresis to use for the -180 degree to 180 degree wrap. |
| */ |
| #define PITCHOVER_HYSTERESIS 0L |
| #define ROLLOVER_HYSTERESIS 0L |
| // 57.3 |
| #define RAD_DEG_FACTOR (180.0 / M_PI) |
| |
| /* |
| * The frequency at which numerical integration takes place. 488 in original code. |
| */ |
| #define INTEGRATION_FREQUENCY F_MAINLOOP |
| |
| /* |
| * Gyro readings are divided by this before being used in attitude control. This will scale them |
| * to match the scale of the stick control etc. variables. This is just a rough non-precision |
| * scaling - the below definitions make precise conversion factors. |
| */ |
| #define HIRES_GYRO_INTEGRATION_FACTOR 1 |
| // (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
| |
| /* |
| Gyro integration: |
| |
| The control loop executes at INTEGRATION_FREQUENCY Hz, and for each iteration |
| gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
| Assuming a constant rotation rate v and a zero initial gyroIntegral |
| (for this explanation), we get: |
| |
| gyroIntegral = |
| t * INTEGRATION_FREQUENCY * v * GYRO_RATE_FACTOR_PITCHROLL / HIRES_GYRO_INTEGRATION_FACTOR |
| |
| For one degree of rotation: t*v = 1: |
| |
| gyroIntegral = INTEGRATION_FREQUENCY * v * GYRO_RATE_FACTOR_PITCHROLL / HIRES_GYRO_INTEGRATION_FACTOR |
| |
| This number (INTEGRATION_FREQUENCY * v * GYRO_RATE_FACTOR_PITCHROLL / HIRES_GYRO_INTEGRATION_FACTOR) is the integral-to-degree factor. |
| |
| Examples: |
| FC1.3: GYRO_DEG_FACTOR_PITCHROLL = 2545 |
| FC2.0: GYRO_DEG_FACTOR_PITCHROLL = 2399 |
| My InvenSense copter: GYRO_DEG_FACTOR_PITCHROLL = 1333 |
| */ |
| //#define GYRO_PITCHROLL_CORRECTION GYRO_PITCHROLL_CORRECTION_should_be_overridden_with_a_-D_at_compile_time |
| #define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
| #define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
| |
| /* |
| * Constant for deriving an attitude angle from acceleration measurement. |
| * |
| * The value is derived from the datasheet of the ACC sensor where 5g are scaled to VRef. |
| * 1g is (3V * 1024) / (5 * 3V) = 205 counts. The ADC ISR sums 2 acc. samples to each |
| * [pitch/roll]AxisAcc and thus reads about acc = 410 counts / g. |
| * We approximate a small pitch/roll angle v by assuming that the copter does not accelerate: |
| * In this explanation it is assumed that the ADC values are 0 based, and gravity is included. |
| * The sine of v is the far side / the hypothenusis: |
| * sin v = acc / sqrt(acc^2 + acc_z^2) |
| * Using that v is a small angle, and the near side is about equal to the the hypothenusis: |
| * sin v ~= acc / acc_z |
| * Assuming that the multicopter is hovering at small pitch and roll angles, acc_z is about 410, |
| * and sin v ~= v (small angles, in radians): |
| * sin v ~= acc / 410 |
| * v / 57.3 ~= acc / 410 |
| * v ~= acc * 57.3 / 410 |
| * acc / v ~= 410 / 57.3 ~= 7, that is: There are about 7 counts per degree. |
| * |
| * Summary: DEG_ACC_FACTOR = (2 * 1024 * [sensitivity of acc. meter in V/g]) / (3V * 57.3) |
| */ |
| #define DEG_ACC_FACTOR 7 |
| |
| |
| /* |
| * This is ([gyro integral value] / degree) / (degree / acc. sensor value) = gyro integral value / acc.sensor value |
| * = the factor an acc. sensor should be multiplied by to get the gyro integral |
| * value for the same (small) angle. |
| * The value is about 200. |
| */ |
| #define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| |
| #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
| #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
| #define YAWOVER180 (GYRO_DEG_FACTOR_YAW * 180L) |
| #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
| |
| /* |
| * Rotation rates |
| */ |
| extern int16_t rate_PID[2], rate_ATT[2], yawRate; |
| extern int16_t differential[2]; |
| |
| /* |
| * Attitudes calculated by numerical integration of gyro rates |
| */ |
| extern int32_t attitude[2]; |
| extern int16_t attitude[3]; |
| |
| // This is really a flight module thing, but it should be corrected along |
| // when the yaw angle is corrected from the compass, and that happens here. |
| // extern int32_t yawAngleDiff; |
| |
| /* |
| * Compass navigation |
| */ |
| extern int32_t heading; |
| extern uint16_t ignoreCompassTimer; |
| extern uint16_t accVector; |
| |
| extern int32_t headingError; |
| |
| |
| /* |
| * Dynamic gyro offsets. These are signed values that are subtracted from the gyro measurements, |
| * to help canceling out drift and vibration noise effects. The dynamic offsets themselves |
| * can be updated in flight by different ways, for example: |
| * - Just taking them from parameters, so the pilot can trim manually in a PC or mobile tool |
| * - Summing up how much acc. meter correction was done to the gyro integrals over the last n |
| * integration, and then adding the sum / n to the dynamic offset |
| * - Detect which way the pilot pulls the stick to keep the copter steady, and correct by that |
| * - Invent your own... |
| */ |
| extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
| |
| /* |
| * For NaviCtrl use. |
| */ |
| extern int16_t averageAcc[2], averageAccCount; |
| |
| /* |
| * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |
| * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right). |
| */ |
| 147,18 → 29,8 |
|---|
| void attitude_setNeutral(void); |
| |
| /* |
| * Experiment. |
| */ |
| // void attitude_startDynamicCalibration(void); |
| // void attitude_continueDynamicCalibration(void); |
| |
| int32_t getAngleEstimateFromAcc(uint8_t axis); |
| |
| /* |
| * Main routine, called from the flight loop. |
| */ |
| void calculateFlightAttitude(void); |
| void attitude_update(void); |
| |
| void attitude_resetHeadingToMagnetic(void); |
| |
| #endif //_ATTITUDE_H |