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• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/attitudeControl.c @ 1775

  → /branches/dongfang_FC_rewrite/attitudeControl.c @ 1821

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• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1775 → Rev 1821

/branches/dongfang_FC_rewrite/attitudeControl.c
8,39 → 8,40
#include "rc.h"
// = cos^2(45 degs).
const int32_t MINPROJECTION = (int32_t)MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2;
const int32_t MINPROJECTION = (int32_t) MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2;
// Takes 380 - 400 usec. Way too slow.
// With static MINPROJECTION: 220 usec.
uint16_t AC_getThrottle(uint16_t throttle) {
int32_t projection;
int32_t projection;
// 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.
// 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.
uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3
int16_t deltaThrottle;
uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3
int16_t deltaThrottle;
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;
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;
return throttle + deltaThrottle;
return throttle + deltaThrottle;
}
/*
har: R = e * k/p
vil R = e * ( 1 - k/p )
= e - ek/p
*/
har: R = e * k/p
vil R = e * ( 1 - k/p )
= e - ek/p
*/