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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | 51 | ||
52 | /************************************************************************/ |
52 | /************************************************************************/ |
53 | /* Flight Attitude */ |
53 | /* Flight Attitude */ |
54 | /************************************************************************/ |
54 | /************************************************************************/ |
55 | 55 | ||
56 | #include <stdlib.h> |
56 | #include <stdlib.h> |
57 | #include <avr/io.h> |
57 | #include <avr/io.h> |
58 | 58 | ||
59 | #include "attitude.h" |
59 | #include "attitude.h" |
60 | #include "dongfangMath.h" |
60 | #include "dongfangMath.h" |
61 | 61 | ||
62 | // where our main data flow comes from. |
62 | // where our main data flow comes from. |
63 | #include "analog.h" |
63 | #include "analog.h" |
64 | 64 | ||
65 | #include "configuration.h" |
65 | #include "configuration.h" |
66 | 66 | ||
67 | // Some calculations are performed depending on some stick related things. |
67 | // Some calculations are performed depending on some stick related things. |
68 | #include "controlMixer.h" |
68 | #include "controlMixer.h" |
69 | 69 | ||
70 | // For Servo_On / Off |
70 | // For Servo_On / Off |
71 | // #include "timer2.h" |
71 | // #include "timer2.h" |
72 | 72 | ||
73 | #ifdef USE_MK3MAG |
73 | #ifdef USE_MK3MAG |
74 | #include "mk3mag.h" |
74 | #include "mk3mag.h" |
75 | #include "gps.h" |
75 | #include "gps.h" |
76 | #endif |
76 | #endif |
77 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
77 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
78 | 78 | ||
79 | /* |
79 | /* |
80 | * Gyro readings, as read from the analog module. It would have been nice to flow |
80 | * Gyro readings, as read from the analog module. It would have been nice to flow |
81 | * them around between the different calculations as a struct or array (doing |
81 | * them around between the different calculations as a struct or array (doing |
82 | * things functionally without side effects) but this is shorter and probably |
82 | * things functionally without side effects) but this is shorter and probably |
83 | * faster too. |
83 | * faster too. |
84 | * The variables are overwritten at each attitude calculation invocation - the values |
84 | * The variables are overwritten at each attitude calculation invocation - the values |
85 | * are not preserved or reused. |
85 | * are not preserved or reused. |
86 | */ |
86 | */ |
87 | int16_t pitchRate, rollRate, yawRate; |
87 | int16_t pitchRate, rollRate, yawRate; |
88 | 88 | ||
89 | // With different (less) filtering |
89 | // With different (less) filtering |
90 | int16_t pitchRate_PID, rollRate_PID; |
90 | int16_t pitchRate_PID, rollRate_PID; |
91 | int16_t pitchDifferential, rollDifferential; |
91 | int16_t pitchDifferential, rollDifferential; |
92 | 92 | ||
93 | /* |
93 | /* |
94 | * Gyro readings, after performing "axis coupling" - that is, the transfomation |
94 | * Gyro readings, after performing "axis coupling" - that is, the transfomation |
95 | * of rotation rates from the airframe-local coordinate system to a ground-fixed |
95 | * of rotation rates from the airframe-local coordinate system to a ground-fixed |
96 | * coordinate system. If axis copling is disabled, the gyro readings will be |
96 | * coordinate system. If axis copling is disabled, the gyro readings will be |
97 | * copied into these directly. |
97 | * copied into these directly. |
98 | * These are global for the same pragmatic reason as with the gyro readings. |
98 | * These are global for the same pragmatic reason as with the gyro readings. |
99 | * The variables are overwritten at each attitude calculation invocation - the values |
99 | * The variables are overwritten at each attitude calculation invocation - the values |
100 | * are not preserved or reused. |
100 | * are not preserved or reused. |
101 | */ |
101 | */ |
102 | int16_t ACPitchRate, ACRollRate, ACYawRate; |
102 | int16_t ACPitchRate, ACRollRate, ACYawRate; |
103 | 103 | ||
104 | /* |
104 | /* |
105 | * Gyro integrals. These are the rotation angles of the airframe compared to the |
105 | * Gyro integrals. These are the rotation angles of the airframe compared to the |
106 | * horizontal plane, yaw relative to yaw at start. |
106 | * horizontal plane, yaw relative to yaw at start. |
107 | */ |
107 | */ |
108 | int32_t pitchAngle, rollAngle, yawAngle; |
108 | int32_t pitchAngle, rollAngle, yawAngle; |
109 | 109 | ||
110 | int readingHeight = 0; |
110 | int readingHeight = 0; |
111 | 111 | ||
112 | // compass course |
112 | // compass course |
113 | int16_t compassHeading = -1; // negative angle indicates invalid data. |
113 | int16_t compassHeading = -1; // negative angle indicates invalid data. |
114 | int16_t compassCourse = -1; |
114 | int16_t compassCourse = -1; |
115 | int16_t compassOffCourse = 0; |
115 | int16_t compassOffCourse = 0; |
116 | uint16_t updateCompassCourse = 0; |
116 | uint16_t updateCompassCourse = 0; |
117 | uint8_t compassCalState = 0; |
117 | uint8_t compassCalState = 0; |
118 | 118 | ||
119 | // uint8_t FunnelCourse = 0; |
119 | // uint8_t FunnelCourse = 0; |
120 | uint16_t badCompassHeading = 500; |
120 | uint16_t badCompassHeading = 500; |
121 | int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
121 | int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
122 | 122 | ||
123 | int32_t turnOver180 = GYRO_DEG_FACTOR_PITCHROLL * 180L; |
123 | #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
- | 124 | #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
|
124 | int32_t turnOver360 = GYRO_DEG_FACTOR_PITCHROLL * 360L; |
125 | #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
125 | 126 | ||
126 | int32_t pitchCorrectionSum = 0, rollCorrectionSum = 0; |
127 | int32_t pitchCorrectionSum = 0, rollCorrectionSum = 0; |
127 | 128 | ||
128 | /* |
129 | /* |
129 | * Experiment: Compensating for dynamic-induced gyro biasing. |
130 | * Experiment: Compensating for dynamic-induced gyro biasing. |
130 | */ |
131 | */ |
131 | int16_t dynamicOffsetPitch = 0, dynamicOffsetRoll = 0, dynamicOffsetYaw = 0; |
132 | int16_t dynamicOffsetPitch = 0, dynamicOffsetRoll = 0, dynamicOffsetYaw = 0; |
132 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
133 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
133 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
134 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
134 | // int16_t dynamicCalCount; |
135 | // int16_t dynamicCalCount; |
135 | 136 | ||
136 | /************************************************************************ |
137 | /************************************************************************ |
137 | * Set inclination angles from the acc. sensor data. |
138 | * Set inclination angles from the acc. sensor data. |
138 | * If acc. sensors are not used, set to zero. |
139 | * If acc. sensors are not used, set to zero. |
139 | * TODO: One could use inverse sine to calculate the angles more |
140 | * TODO: One could use inverse sine to calculate the angles more |
140 | * accurately, but sinc: 1) the angles are rather at times when it |
141 | * accurately, but since: 1) the angles are rather small at times when |
141 | * makes sense to set the integrals (standing on ground, or flying at |
142 | * it makes sense to set the integrals (standing on ground, or flying at |
142 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
143 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
143 | * it is hardly worth the trouble. |
144 | * it is hardly worth the trouble. |
144 | ************************************************************************/ |
145 | ************************************************************************/ |
145 | 146 | ||
146 | int32_t getPitchAngleEstimateFromAcc(void) { |
147 | int32_t getPitchAngleEstimateFromAcc(void) { |
147 | return GYRO_ACC_FACTOR * (int32_t)filteredPitchAxisAcc; |
148 | return GYRO_ACC_FACTOR * (int32_t)filteredPitchAxisAcc; |
148 | } |
149 | } |
149 | 150 | ||
150 | int32_t getRollAngleEstimateFromAcc(void) { |
151 | int32_t getRollAngleEstimateFromAcc(void) { |
151 | return GYRO_ACC_FACTOR * (int32_t)filteredRollAxisAcc; |
152 | return GYRO_ACC_FACTOR * (int32_t)filteredRollAxisAcc; |
152 | } |
153 | } |
153 | 154 | ||
154 | void setStaticAttitudeAngles(void) { |
155 | void setStaticAttitudeAngles(void) { |
155 | #ifdef ATTITUDE_USE_ACC_SENSORS |
156 | #ifdef ATTITUDE_USE_ACC_SENSORS |
156 | pitchAngle = getPitchAngleEstimateFromAcc(); |
157 | pitchAngle = getPitchAngleEstimateFromAcc(); |
157 | rollAngle = getRollAngleEstimateFromAcc(); |
158 | rollAngle = getRollAngleEstimateFromAcc(); |
158 | #else |
159 | #else |
159 | pitchAngle = 0; |
160 | pitchAngle = 0; |
160 | rollAngle = 0; |
161 | rollAngle = 0; |
161 | #endif |
162 | #endif |
162 | } |
163 | } |
163 | 164 | ||
164 | /************************************************************************ |
165 | /************************************************************************ |
165 | * Neutral Readings |
166 | * Neutral Readings |
166 | ************************************************************************/ |
167 | ************************************************************************/ |
167 | void attitude_setNeutral(void) { |
168 | void attitude_setNeutral(void) { |
168 | // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
169 | // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
169 | dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0; |
170 | dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0; |
170 | 171 | ||
171 | dynamicOffsetPitch = dynamicOffsetRoll = 0; |
172 | dynamicOffsetPitch = dynamicOffsetRoll = 0; |
172 | 173 | ||
173 | // Calibrate hardware. |
174 | // Calibrate hardware. |
174 | analog_calibrate(); |
175 | analog_calibrate(); |
175 | 176 | ||
176 | // reset gyro readings |
177 | // reset gyro readings |
177 | pitchRate = rollRate = yawRate = 0; |
178 | pitchRate = rollRate = yawRate = 0; |
178 | 179 | ||
179 | // reset gyro integrals to acc guessing |
180 | // reset gyro integrals to acc guessing |
180 | setStaticAttitudeAngles(); |
181 | setStaticAttitudeAngles(); |
181 | yawAngle = 0; |
182 | yawAngle = 0; |
182 | 183 | ||
183 | // update compass course to current heading |
184 | // update compass course to current heading |
184 | compassCourse = compassHeading; |
185 | compassCourse = compassHeading; |
185 | // Inititialize YawGyroIntegral value with current compass heading |
186 | // Inititialize YawGyroIntegral value with current compass heading |
186 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
187 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
187 | 188 | ||
188 | // Servo_On(); //enable servo output |
189 | // Servo_On(); //enable servo output |
189 | } |
190 | } |
190 | 191 | ||
191 | /************************************************************************ |
192 | /************************************************************************ |
192 | * Get sensor data from the analog module, and release the ADC |
193 | * Get sensor data from the analog module, and release the ADC |
193 | * TODO: Ultimately, the analog module could do this (instead of dumping |
194 | * TODO: Ultimately, the analog module could do this (instead of dumping |
194 | * the values into variables). |
195 | * the values into variables). |
195 | *************************************************************************/ |
196 | *************************************************************************/ |
196 | void getAnalogData(void) { |
197 | void getAnalogData(void) { |
197 | // For the differential calculation. Diff. is not supported right now. |
198 | // For the differential calculation. Diff. is not supported right now. |
198 | // int16_t d2Pitch, d2Roll; |
199 | // int16_t d2Pitch, d2Roll; |
199 | pitchRate_PID = (hiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
200 | pitchRate_PID = (hiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
200 | pitchRate = (filteredHiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
201 | pitchRate = (filteredHiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
201 | pitchDifferential = pitchGyroD; |
202 | pitchDifferential = pitchGyroD; |
202 | 203 | ||
203 | rollRate_PID = (hiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
204 | rollRate_PID = (hiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
204 | rollRate = (filteredHiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
205 | rollRate = (filteredHiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
205 | rollDifferential = rollGyroD; |
206 | rollDifferential = rollGyroD; |
206 | 207 | ||
207 | yawRate = yawGyro + dynamicOffsetYaw; |
208 | yawRate = yawGyro + dynamicOffsetYaw; |
208 | 209 | ||
209 | // We are done reading variables from the analog module. Interrupt-driven sensor reading may restart. |
210 | // We are done reading variables from the analog module. Interrupt-driven sensor reading may restart. |
210 | // TODO: Is that not a little early to measure for next control invocation? |
- | |
211 | analogDataReady = 0; |
211 | analogDataReady = 0; |
212 | analog_start(); |
212 | analog_start(); |
213 | } |
213 | } |
214 | 214 | ||
215 | /************************************************************************ |
215 | /************************************************************************ |
216 | * Axis coupling, H&I Style |
216 | * Axis coupling, H&I Style |
217 | * Currently not working (and there is a bug in it, |
217 | * Currently not working (and there is a bug in it, |
218 | * which causes unstable flight in heading-hold mode). |
218 | * which causes unstable flight in heading-hold mode). |
219 | ************************************************************************/ |
219 | ************************************************************************/ |
220 | void H_and_I_axisCoupling(void) { |
220 | void H_and_I_axisCoupling(void) { |
221 | int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
221 | int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
222 | int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
222 | int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
223 | 223 | ||
224 | tmp13 = (rollRate * pitchAngle) / 2048L; |
224 | tmp13 = (rollRate * pitchAngle) / 2048L; |
225 | tmp13 *= dynamicParams.AxisCoupling2; // 65 |
225 | tmp13 *= dynamicParams.AxisCoupling2; // 65 |
226 | tmp13 /= 4096L; |
226 | tmp13 /= 4096L; |
227 | CouplingNickRoll = tmp13; |
227 | CouplingNickRoll = tmp13; |
228 | 228 | ||
229 | tmp14 = (pitchRate * rollAngle) / 2048L; |
229 | tmp14 = (pitchRate * rollAngle) / 2048L; |
230 | tmp14 *= dynamicParams.AxisCoupling2; // 65 |
230 | tmp14 *= dynamicParams.AxisCoupling2; // 65 |
231 | tmp14 /= 4096L; |
231 | tmp14 /= 4096L; |
232 | CouplingRollNick = tmp14; |
232 | CouplingRollNick = tmp14; |
233 | 233 | ||
234 | tmp14 -= tmp13; |
234 | tmp14 -= tmp13; |
235 | 235 | ||
236 | ACYawRate = yawRate + tmp14; |
236 | ACYawRate = yawRate + tmp14; |
237 | 237 | ||
238 | /* |
238 | /* |
239 | if(!dynamicParams.AxisCouplingYawCorrection) ACYawRate = yawRate - tmp14 / 2; // force yaw |
239 | if(!dynamicParams.AxisCouplingYawCorrection) ACYawRate = yawRate - tmp14 / 2; // force yaw |
240 | else ACYawRate |
240 | else ACYawRate |
241 | */ |
241 | */ |
242 | 242 | ||
243 | tmpl = ((yawRate + tmp14) * pitchAngle) / 2048L; |
243 | tmpl = ((yawRate + tmp14) * pitchAngle) / 2048L; |
244 | tmpl *= dynamicParams.AxisCoupling1; |
244 | tmpl *= dynamicParams.AxisCoupling1; |
245 | tmpl /= 4096L; |
245 | tmpl /= 4096L; |
246 | 246 | ||
247 | tmpl2 = ((yawRate + tmp14) * rollAngle) / 2048L; |
247 | tmpl2 = ((yawRate + tmp14) * rollAngle) / 2048L; |
248 | tmpl2 *= dynamicParams.AxisCoupling1; |
248 | tmpl2 *= dynamicParams.AxisCoupling1; |
249 | tmpl2 /= 4096L; |
249 | tmpl2 /= 4096L; |
250 | 250 | ||
251 | // if(abs(yawRate > 64)) { |
251 | // if(abs(yawRate > 64)) { |
252 | // if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
252 | // if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
253 | // } |
253 | // } |
254 | 254 | ||
255 | ACPitchRate = pitchRate - tmpl2 + tmpl / 100L; |
255 | ACPitchRate = pitchRate - tmpl2 + tmpl / 100L; |
256 | ACRollRate = rollRate + tmpl - tmpl2 / 100L; |
256 | ACRollRate = rollRate + tmpl - tmpl2 / 100L; |
257 | } |
257 | } |
258 | 258 | ||
259 | /* |
259 | /* |
260 | * This is the standard flight-style coordinate system transformation |
260 | * This is the standard flight-style coordinate system transformation |
261 | * (from airframe-local axes to a ground-based system). For some reason |
261 | * (from airframe-local axes to a ground-based system). For some reason |
262 | * the MK uses a left-hand coordinate system. The tranformation has been |
262 | * the MK uses a left-hand coordinate system. The tranformation has been |
263 | * changed accordingly. |
263 | * changed accordingly. |
264 | */ |
264 | */ |
265 | void trigAxisCoupling(void) { |
265 | void trigAxisCoupling(void) { |
266 | int16_t cospitch = int_cos(pitchAngle); |
266 | int16_t cospitch = int_cos(pitchAngle); |
267 | int16_t cosroll = int_cos(rollAngle); |
267 | int16_t cosroll = int_cos(rollAngle); |
268 | int16_t sinroll = int_sin(rollAngle); |
268 | int16_t sinroll = int_sin(rollAngle); |
269 | int16_t tanpitch = int_tan(pitchAngle); |
269 | int16_t tanpitch = int_tan(pitchAngle); |
270 | #define ANTIOVF 1024 |
270 | #define ANTIOVF 1024 |
271 | ACPitchRate = ((int32_t)pitchRate * cosroll + (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
271 | ACPitchRate = ((int32_t)pitchRate * cosroll + (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
272 | ACRollRate = rollRate + (((int32_t)pitchRate * sinroll / ANTIOVF * tanpitch - (int32_t)yawRate * int_cos(rollAngle) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
272 | ACRollRate = rollRate + (((int32_t)pitchRate * sinroll / ANTIOVF * tanpitch - (int32_t)yawRate * int_cos(rollAngle) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
273 | ACYawRate = (-(int32_t)pitchRate * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
273 | ACYawRate = (-(int32_t)pitchRate * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
274 | } |
274 | } |
275 | 275 | ||
276 | void integrate(void) { |
276 | void integrate(void) { |
277 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
277 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
278 | if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) { |
278 | if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) { |
279 | // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead. |
279 | // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead. |
280 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) |
280 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) |
281 | trigAxisCoupling(); |
281 | trigAxisCoupling(); |
282 | else |
282 | else |
283 | H_and_I_axisCoupling(); |
283 | H_and_I_axisCoupling(); |
284 | } else { |
284 | } else { |
285 | ACPitchRate = pitchRate; |
285 | ACPitchRate = pitchRate; |
286 | ACRollRate = rollRate; |
286 | ACRollRate = rollRate; |
287 | ACYawRate = yawRate; |
287 | ACYawRate = yawRate; |
288 | } |
288 | } |
289 | 289 | ||
290 | DebugOut.Analog[3] = pitchRate; |
290 | DebugOut.Analog[3] = pitchRate; |
291 | DebugOut.Analog[3 + 3] = ACPitchRate; |
291 | DebugOut.Analog[3 + 3] = ACPitchRate; |
292 | DebugOut.Analog[4] = rollRate; |
292 | DebugOut.Analog[4] = rollRate; |
293 | DebugOut.Analog[4 + 3] = ACRollRate; |
293 | DebugOut.Analog[4 + 3] = ACRollRate; |
294 | DebugOut.Analog[5] = yawRate; |
294 | DebugOut.Analog[5] = yawRate; |
295 | DebugOut.Analog[5 + 3] = ACYawRate; |
295 | DebugOut.Analog[5 + 3] = ACYawRate; |
296 | 296 | ||
297 | /* |
297 | /* |
298 | DebugOut.Analog[9] = int_cos(pitchAngle); |
298 | DebugOut.Analog[9] = int_cos(pitchAngle); |
299 | DebugOut.Analog[10] = int_sin(pitchAngle); |
299 | DebugOut.Analog[10] = int_sin(pitchAngle); |
300 | DebugOut.Analog[11] = int_tan(pitchAngle); |
300 | DebugOut.Analog[11] = int_tan(pitchAngle); |
301 | */ |
301 | */ |
302 | 302 | ||
303 | /* |
303 | /* |
304 | * Yaw |
304 | * Yaw |
305 | * Calculate yaw gyro integral (~ to rotation angle) |
305 | * Calculate yaw gyro integral (~ to rotation angle) |
306 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
306 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
307 | */ |
307 | */ |
308 | yawGyroHeading += ACYawRate; |
308 | yawGyroHeading += ACYawRate; |
309 | yawAngle += ACYawRate; |
309 | yawAngle += ACYawRate; |
310 | if(yawGyroHeading >= (360L * GYRO_DEG_FACTOR_YAW)) yawGyroHeading -= 360L * GYRO_DEG_FACTOR_YAW; // 360 deg. wrap |
310 | if(yawGyroHeading >= YAWOVER360) yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
311 | if(yawGyroHeading < 0) yawGyroHeading += 360L * GYRO_DEG_FACTOR_YAW; |
311 | else if(yawGyroHeading < 0) yawGyroHeading += YAWOVER360; |
312 | 312 | ||
313 | /* |
313 | /* |
314 | * Pitch axis integration and range boundary wrap. |
314 | * Pitch axis integration and range boundary wrap. |
315 | */ |
315 | */ |
316 | pitchAngle += ACPitchRate; |
316 | pitchAngle += ACPitchRate; |
317 | if(pitchAngle > turnOver180) { |
317 | if(pitchAngle > PITCHROLLOVER180) { |
318 | pitchAngle -= turnOver360; |
318 | pitchAngle -= PITCHROLLOVER360; |
319 | } else if (pitchAngle <= -turnOver180) { |
319 | } else if (pitchAngle <= -PITCHROLLOVER180) { |
320 | pitchAngle += turnOver360; |
320 | pitchAngle += PITCHROLLOVER360; |
321 | } |
321 | } |
322 | 322 | ||
323 | /* |
323 | /* |
324 | * Pitch axis integration and range boundary wrap. |
324 | * Pitch axis integration and range boundary wrap. |
325 | */ |
325 | */ |
326 | rollAngle += ACRollRate; |
326 | rollAngle += ACRollRate; |
327 | if(rollAngle > turnOver180) { |
327 | if(rollAngle > PITCHROLLOVER180) { |
328 | rollAngle -= turnOver360; |
328 | rollAngle -= PITCHROLLOVER360; |
329 | } else if (rollAngle <= -turnOver180) { |
329 | } else if (rollAngle <= -PITCHROLLOVER180) { |
330 | rollAngle += turnOver360; |
330 | rollAngle += PITCHROLLOVER360; |
331 | } |
331 | } |
332 | } |
332 | } |
333 | 333 | ||
334 | /************************************************************************ |
334 | /************************************************************************ |
335 | * A kind of 0'th order integral correction, that corrects the integrals |
335 | * A kind of 0'th order integral correction, that corrects the integrals |
336 | * directly. This is the "gyroAccFactor" stuff in the original code. |
336 | * directly. This is the "gyroAccFactor" stuff in the original code. |
337 | * There is (there) also what I would call a "minus 1st order correction" |
337 | * There is (there) also what I would call a "minus 1st order correction" |
338 | * - it corrects the differential of the integral = the gyro offsets. |
338 | * - it corrects the differential of the integral = the gyro offsets. |
339 | * That should only be necessary with drifty gyros like ENC-03. |
339 | * That should only be necessary with drifty gyros like ENC-03. |
340 | ************************************************************************/ |
340 | ************************************************************************/ |
341 | void correctIntegralsByAcc0thOrder(void) { |
341 | void correctIntegralsByAcc0thOrder(void) { |
342 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
342 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
343 | // are less than ....., or reintroduce Kalman. |
343 | // are less than ....., or reintroduce Kalman. |
344 | // Well actually the Z axis acc. check is not so silly. |
344 | // Well actually the Z axis acc. check is not so silly. |
345 | if(!looping && //((ZAxisAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
345 | if(!looping && //((ZAxisAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
346 | ZAxisAcc >= -dynamicParams.UserParams[7] && ZAxisAcc <= dynamicParams.UserParams[7]) { |
346 | ZAxisAcc >= -dynamicParams.UserParams[7] && ZAxisAcc <= dynamicParams.UserParams[7]) { |
347 | DebugOut.Digital[0] = 1; |
347 | DebugOut.Digital[0] = 1; |
348 | 348 | ||
349 | uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
349 | uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
350 | uint8_t debugFullWeight = 1; |
350 | uint8_t debugFullWeight = 1; |
351 | 351 | ||
352 | int32_t accDerivedPitch = getPitchAngleEstimateFromAcc(); |
352 | int32_t accDerivedPitch = getPitchAngleEstimateFromAcc(); |
353 | int32_t accDerivedRoll = getRollAngleEstimateFromAcc(); |
353 | int32_t accDerivedRoll = getRollAngleEstimateFromAcc(); |
354 | 354 | ||
355 | if((maxControlPitch > 64) || (maxControlRoll > 64)) { // reduce effect during stick commands |
355 | if((maxControlPitch > 64) || (maxControlRoll > 64)) { // reduce effect during stick commands |
356 | permilleAcc /= 2; |
356 | permilleAcc /= 2; |
357 | debugFullWeight = 0; |
357 | debugFullWeight = 0; |
358 | } |
358 | } |
359 | 359 | ||
360 | if(abs(controlYaw) > 25) { // reduce further if yaw stick is active |
360 | if(abs(controlYaw) > 25) { // reduce further if yaw stick is active |
361 | permilleAcc /= 2; |
361 | permilleAcc /= 2; |
362 | debugFullWeight = 0; |
362 | debugFullWeight = 0; |
363 | } |
363 | } |
364 | 364 | ||
365 | /* |
365 | /* |
366 | * Add to each sum: The amount by which the angle is changed just below. |
366 | * Add to each sum: The amount by which the angle is changed just below. |
367 | */ |
367 | */ |
368 | pitchCorrectionSum += permilleAcc * (accDerivedPitch - pitchAngle); |
368 | pitchCorrectionSum += permilleAcc * (accDerivedPitch - pitchAngle); |
369 | rollCorrectionSum += permilleAcc * (accDerivedRoll - rollAngle); |
369 | rollCorrectionSum += permilleAcc * (accDerivedRoll - rollAngle); |
370 | 370 | ||
371 | // There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
371 | // There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
372 | pitchAngle = ((int32_t)(1000 - permilleAcc) * pitchAngle + (int32_t)permilleAcc * accDerivedPitch) / 1000L; |
372 | pitchAngle = ((int32_t)(1000 - permilleAcc) * pitchAngle + (int32_t)permilleAcc * accDerivedPitch) / 1000L; |
373 | rollAngle = ((int32_t)(1000 - permilleAcc) * rollAngle + (int32_t)permilleAcc * accDerivedRoll) / 1000L; |
373 | rollAngle = ((int32_t)(1000 - permilleAcc) * rollAngle + (int32_t)permilleAcc * accDerivedRoll) / 1000L; |
374 | 374 | ||
375 | DebugOut.Digital[1] = debugFullWeight; |
375 | DebugOut.Digital[1] = debugFullWeight; |
376 | } else { |
376 | } else { |
377 | DebugOut.Digital[0] = 0; |
377 | DebugOut.Digital[0] = 0; |
378 | } |
378 | } |
379 | } |
379 | } |
380 | 380 | ||
381 | /************************************************************************ |
381 | /************************************************************************ |
382 | * This is an attempt to correct not the error in the angle integrals |
382 | * This is an attempt to correct not the error in the angle integrals |
383 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
383 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
384 | * cause of it: Gyro drift, vibration and rounding errors. |
384 | * cause of it: Gyro drift, vibration and rounding errors. |
385 | * All the corrections made in correctIntegralsByAcc0thOrder over |
385 | * All the corrections made in correctIntegralsByAcc0thOrder over |
386 | * MINUSFIRSTORDERCORRECTION_TIME cycles are summed up. This number is |
386 | * MINUSFIRSTORDERCORRECTION_TIME cycles are summed up. This number is |
387 | * then divided by MINUSFIRSTORDERCORRECTION_TIME to get the approx. |
387 | * then divided by MINUSFIRSTORDERCORRECTION_TIME to get the approx. |
388 | * correction that should have been applied to each iteration to fix |
388 | * correction that should have been applied to each iteration to fix |
389 | * the error. This is then added to the dynamic offsets. |
389 | * the error. This is then added to the dynamic offsets. |
390 | ************************************************************************/ |
390 | ************************************************************************/ |
391 | // 2 times / sec. |
391 | // 2 times / sec. |
392 | #define DRIFTCORRECTION_TIME 488/2 |
392 | #define DRIFTCORRECTION_TIME 488/2 |
393 | void driftCompensation(void) { |
393 | void driftCompensation(void) { |
394 | static int16_t timer = DRIFTCORRECTION_TIME; |
394 | static int16_t timer = DRIFTCORRECTION_TIME; |
395 | int16_t deltaCompensation; |
395 | int16_t deltaCompensation; |
396 | if (! --timer) { |
396 | if (! --timer) { |
397 | timer = DRIFTCORRECTION_TIME; |
397 | timer = DRIFTCORRECTION_TIME; |
398 | deltaCompensation = ((pitchCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
398 | deltaCompensation = ((pitchCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
399 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
399 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
400 | dynamicOffsetPitch += deltaCompensation / staticParams.GyroAccTrim; |
400 | dynamicOffsetPitch += deltaCompensation / staticParams.GyroAccTrim; |
401 | 401 | ||
402 | deltaCompensation = ((rollCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
402 | deltaCompensation = ((rollCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
403 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
403 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
404 | dynamicOffsetRoll += deltaCompensation / staticParams.GyroAccTrim; |
404 | dynamicOffsetRoll += deltaCompensation / staticParams.GyroAccTrim; |
405 | 405 | ||
406 | pitchCorrectionSum = rollCorrectionSum = 0; |
406 | pitchCorrectionSum = rollCorrectionSum = 0; |
407 | 407 | ||
408 | DebugOut.Analog[28] = dynamicOffsetPitch; |
408 | DebugOut.Analog[28] = dynamicOffsetPitch; |
409 | DebugOut.Analog[29] = dynamicOffsetRoll; |
409 | DebugOut.Analog[29] = dynamicOffsetRoll; |
410 | } |
410 | } |
411 | } |
411 | } |
412 | 412 | ||
413 | /************************************************************************ |
413 | /************************************************************************ |
414 | * Main procedure. |
414 | * Main procedure. |
415 | ************************************************************************/ |
415 | ************************************************************************/ |
416 | void calculateFlightAttitude(void) { |
416 | void calculateFlightAttitude(void) { |
417 | getAnalogData(); |
417 | getAnalogData(); |
418 | integrate(); |
418 | integrate(); |
419 | #ifdef ATTITUDE_USE_ACC_SENSORS |
419 | #ifdef ATTITUDE_USE_ACC_SENSORS |
420 | correctIntegralsByAcc0thOrder(); |
420 | correctIntegralsByAcc0thOrder(); |
421 | driftCompensation(); |
421 | driftCompensation(); |
422 | #endif |
422 | #endif |
423 | } |
423 | } |
424 | 424 | ||
425 | /* |
425 | /* |
426 | void updateCompass(void) { |
426 | void updateCompass(void) { |
427 | int16_t w, v, r,correction, error; |
427 | int16_t w, v, r,correction, error; |
428 | |
428 | |
429 | if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
429 | if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
430 | setCompassCalState(); |
430 | setCompassCalState(); |
431 | } else { |
431 | } else { |
432 | // get maximum attitude angle |
432 | // get maximum attitude angle |
433 | w = abs(pitchAngle / 512); |
433 | w = abs(pitchAngle / 512); |
434 | v = abs(rollAngle / 512); |
434 | v = abs(rollAngle / 512); |
435 | if(v > w) w = v; |
435 | if(v > w) w = v; |
436 | correction = w / 8 + 1; |
436 | correction = w / 8 + 1; |
437 | // calculate the deviation of the yaw gyro heading and the compass heading |
437 | // calculate the deviation of the yaw gyro heading and the compass heading |
438 | if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
438 | if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
439 | else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
439 | else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
440 | if(abs(yawRate) > 128) { // spinning fast |
440 | if(abs(yawRate) > 128) { // spinning fast |
441 | error = 0; |
441 | error = 0; |
442 | } |
442 | } |
443 | if(!badCompassHeading && w < 25) { |
443 | if(!badCompassHeading && w < 25) { |
444 | if(updateCompassCourse) { |
444 | if(updateCompassCourse) { |
445 | beep(200); |
445 | beep(200); |
446 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
446 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
447 | compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
447 | compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
448 | updateCompassCourse = 0; |
448 | updateCompassCourse = 0; |
449 | } |
449 | } |
450 | } |
450 | } |
451 | yawGyroHeading += (error * 8) / correction; |
451 | yawGyroHeading += (error * 8) / correction; |
452 | w = (w * dynamicParams.CompassYawEffect) / 32; |
452 | w = (w * dynamicParams.CompassYawEffect) / 32; |
453 | w = dynamicParams.CompassYawEffect - w; |
453 | w = dynamicParams.CompassYawEffect - w; |
454 | if(w >= 0) { |
454 | if(w >= 0) { |
455 | if(!badCompassHeading) { |
455 | if(!badCompassHeading) { |
456 | v = 64 + (maxControlPitch + maxControlRoll) / 8; |
456 | v = 64 + (maxControlPitch + maxControlRoll) / 8; |
457 | // calc course deviation |
457 | // calc course deviation |
458 | r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
458 | r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
459 | v = (r * w) / v; // align to compass course |
459 | v = (r * w) / v; // align to compass course |
460 | // limit yaw rate |
460 | // limit yaw rate |
461 | w = 3 * dynamicParams.CompassYawEffect; |
461 | w = 3 * dynamicParams.CompassYawEffect; |
462 | if (v > w) v = w; |
462 | if (v > w) v = w; |
463 | else if (v < -w) v = -w; |
463 | else if (v < -w) v = -w; |
464 | yawAngle += v; |
464 | yawAngle += v; |
465 | } |
465 | } |
466 | else |
466 | else |
467 | { // wait a while |
467 | { // wait a while |
468 | badCompassHeading--; |
468 | badCompassHeading--; |
469 | } |
469 | } |
470 | } |
470 | } |
471 | else { // ignore compass at extreme attitudes for a while |
471 | else { // ignore compass at extreme attitudes for a while |
472 | badCompassHeading = 500; |
472 | badCompassHeading = 500; |
473 | } |
473 | } |
474 | } |
474 | } |
475 | } |
475 | } |
476 | */ |
476 | */ |
477 | 477 | ||
478 | /* |
478 | /* |
479 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
479 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
480 | * and to compensate them away. It brings about some improvement, but no miracles. |
480 | * and to compensate them away. It brings about some improvement, but no miracles. |
481 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
481 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
482 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
482 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
483 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
483 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
484 | * speed unfortunately... must find a better way) |
484 | * speed unfortunately... must find a better way) |
485 | */ |
485 | */ |
486 | /* |
486 | /* |
487 | void attitude_startDynamicCalibration(void) { |
487 | void attitude_startDynamicCalibration(void) { |
488 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
488 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
489 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
489 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
490 | } |
490 | } |
491 | 491 | ||
492 | void attitude_continueDynamicCalibration(void) { |
492 | void attitude_continueDynamicCalibration(void) { |
493 | // measure dynamic offset now... |
493 | // measure dynamic offset now... |
494 | dynamicCalPitch += hiResPitchGyro; |
494 | dynamicCalPitch += hiResPitchGyro; |
495 | dynamicCalRoll += hiResRollGyro; |
495 | dynamicCalRoll += hiResRollGyro; |
496 | dynamicCalYaw += rawYawGyroSum; |
496 | dynamicCalYaw += rawYawGyroSum; |
497 | dynamicCalCount++; |
497 | dynamicCalCount++; |
498 | |
498 | |
499 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
499 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
500 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
500 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
501 | // manual mode |
501 | // manual mode |
502 | dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
502 | dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
503 | dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
503 | dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
504 | } else { |
504 | } else { |
505 | // use the sampled value (does not seem to work so well....) |
505 | // use the sampled value (does not seem to work so well....) |
506 | dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
506 | dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
507 | dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
507 | dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
508 | dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
508 | dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
509 | } |
509 | } |
510 | |
510 | |
511 | // keep resetting these meanwhile, to avoid accumulating errors. |
511 | // keep resetting these meanwhile, to avoid accumulating errors. |
512 | setStaticAttitudeIntegrals(); |
512 | setStaticAttitudeIntegrals(); |
513 | yawAngle = 0; |
513 | yawAngle = 0; |
514 | } |
514 | } |
515 | */ |
515 | */ |
516 | 516 |