0,0 → 1,46 |
#include <inttypes.h> |
#include "attitude.h" |
#include "uart0.h" |
#include "configuration.h" |
#include "dongfangMath.h" |
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// For scope debugging only! |
#include "rc.h" |
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// = cos^2(45 degs). |
const int32_t MINPROJECTION = (int32_t)MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2; |
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// Takes 380 - 400 usec. Way too slow. |
// With static MINPROJECTION: 220 usec. |
uint16_t AC_getThrottle(uint16_t throttle) { |
int32_t projection; |
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// part1 start: 150 usec |
// It's factor (int32_t)MATH_UNIT_FACTOR^2 too high. |
projection = (int32_t)int_cos(angle[PITCH]) * (int32_t)int_cos(angle[ROLL]); |
// part1 end. |
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uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
int16_t deltaThrottle; |
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if (projection < MINPROJECTION && projection >= 0) { |
// projection = MINPROJECTION; |
deltaThrottle = 0; |
} else if (projection >- MINPROJECTION && projection<0) { |
// projection = -MINPROJECITON; |
deltaThrottle = 0; |
} else |
/* |
* We need delta throttle = constant/projection1 |
* (constant * MATH_UNIT_FACTOR^2) / projection. |
*/ |
deltaThrottle = ((int32_t)effect * (int32_t)MATH_UNIT_FACTOR * (int32_t)MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
// DebugOut.Analog[13] = deltaThrottle; |
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return throttle + deltaThrottle; |
} |
/* |
har: R = e * k/p |
vil R = e * ( 1 - k/p ) |
= e - ek/p |
*/ |