76,8 → 76,9 |
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
// int16_t dynamicCalCount; |
// uint16_t accVector; |
|
uint16_t accVector; |
// uint32_t gyroActivity; |
|
/************************************************************************ |
* Set inclination angles from the acc. sensor data. |
119,6 → 120,7 |
|
// reset gyro integrals to acc guessing |
setStaticAttitudeAngles(); |
|
#ifdef USE_MK3MAG |
attitude_resetHeadingToMagnetic(); |
#endif |
209,63 → 211,6 |
} |
} |
|
void correctIntegralsByAcc0thOrder_old(void) { |
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 <= staticParams.maxAccVector) { |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
|
uint8_t permilleAcc = staticParams.zerothOrderCorrection / 8; |
int32_t accDerived; |
|
/* |
if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
permilleAcc /= 2; |
debugFullWeight = 0; |
} |
|
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] = 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; |
} |
} |
|
|
/************************************************************************ |
* A kind of 0'th order integral correction, that corrects the integrals |
* directly. This is the "gyroAccFactor" stuff in the original code. |
275,7 → 220,7 |
************************************************************************/ |
#define LOG_DIVIDER 12 |
#define DIVIDER (1L << LOG_DIVIDER) |
void correctIntegralsByAcc0thOrder_new(void) { |
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. |
282,53 → 227,30 |
uint8_t axis; |
int32_t temp; |
|
// 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; |
uint16_t ca = gyroActivity >> 8; |
debugOut.analog[14] = ca; |
|
uint8_t accPart = staticParams.zerothOrderCorrection; |
int32_t accDerived; |
uint8_t gyroActivityWeighted = ca / staticParams.rateTolerance; |
if (!gyroActivityWeighted) gyroActivityWeighted = 1; |
|
debugOut.analog[14] = controlActivity; |
debugOut.analog[15] = accVector; |
uint8_t accPart = staticParams.zerothOrderCorrection / gyroActivityWeighted; |
|
debugOut.analog[20] = controlActivityWeighted; |
debugOut.analog[21] = accVectorWeighted; |
debugOut.analog[24] = accVector; |
debugOut.analog[15] = gyroActivityWeighted; |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
|
accPart /= controlActivityWeighted; |
accPart /= accVectorWeighted; |
|
if (controlActivityFlash < controlActivityWeighted) { |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
} else { |
debugOut.digital[0] |= DEBUG_ACC0THORDER; |
if (gyroActivityWeighted < 8) { |
debugOut.digital[0] |= DEBUG_ACC0THORDER; |
} |
if (++controlActivityFlash > CF_MAX+1) controlActivityFlash=1; |
|
if (accFlash < accVectorWeighted) { |
debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
} else { |
debugOut.digital[1] |= DEBUG_ACC0THORDER; |
if (gyroActivityWeighted <= 2) { |
debugOut.digital[1] |= DEBUG_ACC0THORDER; |
} |
if (++accFlash > CF_MAX+1) accFlash=1; |
|
/* |
* Add to each sum: The amount by which the angle is changed just below. |
*/ |
for (axis = PITCH; axis <= ROLL; axis++) { |
accDerived = getAngleEstimateFromAcc(axis); |
int32_t 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]; |
375,6 → 297,7 |
} |
} |
|
/* |
void calculateAccVector(void) { |
int16_t temp; |
temp = filteredAcc[0] >> 3; |
384,6 → 307,7 |
temp = filteredAcc[2] >> 3; |
accVector += temp * temp; |
} |
*/ |
|
#ifdef USE_MK3MAG |
void attitude_resetHeadingToMagnetic(void) { |
478,15 → 402,11 |
************************************************************************/ |
void calculateFlightAttitude(void) { |
getAnalogData(); |
calculateAccVector(); |
// calculateAccVector(); |
integrate(); |
|
#ifdef ATTITUDE_USE_ACC_SENSORS |
if (staticParams.maxControlActivity) { |
correctIntegralsByAcc0thOrder_old(); |
} else { |
correctIntegralsByAcc0thOrder_new(); |
} |
correctIntegralsByAcc0thOrder(); |
driftCorrection(); |
#endif |
|
500,42 → 420,3 |
} |
#endif |
} |
|
/* |
* 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; |
} |
*/ |