WebSVN - FlightCtrl - Diff - Rev 1179 and 1180 - /branches/V0.72p Code Redesign killagreg/fc.h

 /*#######################################################################################
 Flight Control
 #######################################################################################*/
 #ifndef _FC_H
 #define _FC_H
 #include <inttypes.h>
+// scaling from AdAccNick, AdAccRoll -> AccNick, AccRoll
+// i.e. AccNick = ACC_AMPLIFY * AdAccNick
+#define ACC_AMPLIFY             6
+// scaling from AccNick, AccRoll -> Attitude in deg (approx sin(x) = x),
+// i.e. Nick Angle in deg = AccNick / ACC_DEG_FACTOR
+// the value is derived from the datasheet of the ACC sensor where 5g are scaled to vref
+// therefore 1g is 1024/5 = 205 counts. the adc isr combines 2 acc samples to AdValueAcc
+// and 1g yields to AdValueAcc = 2* 205 * 410 wich is again scaled by ACC_DEG_FACTOR
+// that results in 1g --> Acc = 205 * 12 = 2460. the linear approx of the arcsin and the scaling
-#define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg
+// of Acc gives the factor below. sin(20deg) * 2460 = 841 --> 841 / 20 = 42
+#define ACC_DEG_FACTOR     42
+// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg
+// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR
+#define GYRO_DEG_FACTOR    ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)
 #define STICK_GAIN 4
 typedef struct
+{
-        uint8_t Height_D;
+        uint8_t HeightD;
         uint8_t MaxHeight;
-        uint8_t Height_P;
+        uint8_t HeightP;
         uint8_t Height_ACC_Effect;
         uint8_t CompassYawEffect;
+        uint8_t GyroD;
-        uint8_t Gyro_P;
+        uint8_t GyroP;
-        uint8_t Gyro_I;
+        uint8_t GyroI;
-        uint8_t Yaw_P;
+        uint8_t StickYawP;
-        uint8_t I_Factor;
+        uint8_t IFactor;
         uint8_t UserParam1;
         uint8_t UserParam2;
         uint8_t UserParam3;
         uint8_t UserParam4;
         uint8_t UserParam5;
         uint8_t UserParam6;
         uint8_t UserParam7;
         uint8_t UserParam8;
         uint8_t ServoNickControl;
         uint8_t LoopGasLimit;
-        uint8_t Yaw_PosFeedback;
+        uint8_t AxisCoupling1;
-        uint8_t Yaw_NegFeedback;
+        uint8_t AxisCoupling2;
+        uint8_t AxisCouplingYawCorrection;
         uint8_t DynamicStability;
         uint8_t ExternalControl;
         uint8_t J16Timing;
         uint8_t J17Timing;
         #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
         uint8_t NaviGpsModeControl;
         uint8_t NaviGpsGain;
         uint8_t NaviGpsP;
         uint8_t NaviGpsI;
         uint8_t NaviGpsD;
         uint8_t NaviGpsACC;
         uint8_t NaviOperatingRadius;
         uint8_t NaviWindCorrection;
         uint8_t NaviSpeedCompensation;
         #endif
-        int8_t Kalman_K;
+        int8_t KalmanK;
-        int8_t Kalman_MaxDrift;
+        int8_t KalmanMaxDrift;
-        int8_t Kalman_MaxFusion;
+        int8_t KalmanMaxFusion;
 } fc_param_t;
 extern fc_param_t FCParam;
-// attitude
-extern  int32_t IntegralNick, IntegralRoll, IntegralYaw;
-extern  int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
+// rotation rates
-// offsets
+extern  int16_t GyroNick, GyroRoll, GyroYaw;
-extern  int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
+// attitude calcualted by temporal integral of gyro rates
+extern  int32_t IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw;
+// bias values
-extern volatile int16_t NeutralAccX, NeutralAccY;
+extern int16_t BiasHiResGyroNick, BiasHiResGyroRoll, AdBiasGyroYaw;
-extern volatile float NeutralAccZ;
+extern int16_t AdBiasAccNick, AdBiasAccRoll;
+extern volatile float AdBiasAccTop;
-extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
+extern volatile int32_t ReadingIntegralTop; // calculated in analog.c
 // compass navigation
-extern volatile int16_t CompassHeading;
+extern int16_t CompassHeading;
-extern volatile int16_t CompassCourse;
+extern int16_t CompassCourse;
-extern volatile int16_t CompassOffCourse;
+extern int16_t CompassOffCourse;
-extern volatile uint8_t CompassCalState;
+extern uint8_t CompassCalState;
 extern int32_t YawGyroHeading;
 extern int16_t YawGyroHeadingInDeg;
 // hight control
 extern int ReadingHeight;
 extern int SetPointHeight;
-// mean accelerations
+// accelerations
-extern  int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
+extern  int16_t AccNick, AccRoll, AccTop;
 // acceleration send to navi board
 extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
 // looping params
 extern long TurnOver180Nick, TurnOver180Roll;
 // external control
 extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
+#define ACC_CALIB 1
 #define NO_ACC_CALIB 0
 void MotorControl(void);
 void SendMotorData(void);
-void CalibMean(void);
-void Mean(void);
-void SetNeutral(void);
+void SetNeutral(uint8_t AccAdjustment);
 void Beep(uint8_t numbeeps);
 extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
 // setpoints for motors
-extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
+extern volatile uint8_t Motor1, Motor2, Motor3, Motor4, Motor5, Motor6, Motor7, Motor8;
 // current stick values
 extern int16_t StickNick;
 extern int16_t StickRoll;
 extern int16_t StickYaw;
+// current GPS-stick values
-extern int16_t GPS_Nick;
+extern int16_t GPSStickNick;
-extern int16_t GPS_Roll;
+extern int16_t GPSStickRoll;
 // current stick elongations
 extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
-extern uint16_t Model_Is_Flying;
+extern uint16_t ModelIsFlying;
 // MKFlags
 #define MKFLAG_MOTOR_RUN                                0x01
 #define MKFLAG_FLY                                      0x02
 #define MKFLAG_CALIBRATE                                0x04
 #define MKFLAG_START                                    0x08
 #define MKFLAG_EMERGENCY_LANDING        0x10
 #define MKFLAG_RESERVE1                         0x20
 #define MKFLAG_RESERVE2                         0x40
 #define MKFLAG_RESERVE3                         0x80
-volatile extern uint8_t MKFlags;
+extern uint8_t MKFlags;
 #endif //_FC_H

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(root)/branches/V0.72p Code Redesign killagreg/fc.h @ 1272 - Rev 1179 → 1180