WebSVN - FlightCtrl - Diff - Rev 1926 and 1927 - /branches/dongfang_FC


/************************************************************************/
/* Flight Attitude                                                      */
/************************************************************************/
 
#include <stdlib.h>
#include <avr/io.h>
 
#include "attitude.h"
#include "dongfangMath.h"
 
// For scope debugging only!
#include "rc.h"
 
// where our main data flow comes from.
#include "analog.h"
 
#include "configuration.h"
#include "output.h"
 
// Some calculations are performed depending on some stick related things.
#include "controlMixer.h"
 
// For Servo_On / Off
// #include "timer2.h"
 
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
 
/*
 * Gyro readings, as read from the analog module. It would have been nice to flow
 * them around between the different calculations as a struct or array (doing
 * things functionally without side effects) but this is shorter and probably
 * faster too.
 * The variables are overwritten at each attitude calculation invocation - the values
 * are not preserved or reused.
 */
int16_t rate_ATT[2], yawRate;
 
// With different (less) filtering
int16_t rate_PID[2];
int16_t differential[3];
 
/*
 * Gyro integrals. These are the rotation angles of the airframe compared to the
 * horizontal plane, yaw relative to yaw at start. Not really used for anything else
 * than diagnostics.
 */
int32_t angle[3];
 
/*
 * Error integrals. Stick is always positive. Gyro is configurable positive or negative.
 * These represent the deviation of the attitude angle from the desired on each axis.
 */
int32_t error[3];
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass
 
int16_t correctionSum[2] = { 0, 0 };
 
// For NaviCTRL use.
int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0;
 
/*
 * Experiment: Compensating for dynamic-induced gyro biasing.
 */
int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0;
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
// int16_t dynamicCalCount;
 
/************************************************************************
 * Set inclination angles from the acc. sensor data.                    
 * If acc. sensors are not used, set to zero.                          
 * TODO: One could use inverse sine to calculate the angles more        
 * accurately, but since: 1) the angles are rather small at times when
 * it makes sense to set the integrals (standing on ground, or flying at  
 * constant speed, and 2) at small angles a, sin(a) ~= constant * a,    
 * it is hardly worth the trouble.                                      
 ************************************************************************/
 
int32_t getAngleEstimateFromAcc(uint8_t axis) {
  return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis];
}
 
void setStaticAttitudeAngles(void) {
#ifdef ATTITUDE_USE_ACC_SENSORS
  angle[PITCH] = getAngleEstimateFromAcc(PITCH);
  angle[ROLL] = getAngleEstimateFromAcc(ROLL);
#else
  angle[PITCH] = angle[ROLL] = 0;
#endif
}
 
/************************************************************************
 * Neutral Readings                                                    
 ************************************************************************/
void attitude_setNeutral(void) {
  // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
  driftComp[PITCH] = driftComp[ROLL];
  correctionSum[PITCH] = correctionSum[ROLL] = 0;
 
  // Calibrate hardware.
  analog_calibrate();
 
  // reset gyro integrals to acc guessing
  setStaticAttitudeAngles();
 
 
 
 
  // Inititialize YawGyroIntegral value with current compass heading
  angle[YAW] = 0;
 
  // Servo_On(); //enable servo output
}
 
/************************************************************************
 * Get sensor data from the analog module, and release the ADC          
 * TODO: Ultimately, the analog module could do this (instead of dumping
 * the values into variables).
 * The rate variable end up in a range of about [-1024, 1023].
 *************************************************************************/
void getAnalogData(void) {
  uint8_t axis;
 
  for (axis = PITCH; axis <= ROLL; axis++) {
    rate_PID[axis] = gyro_PID[axis] + driftComp[axis];
    rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis];
    differential[axis] = gyroD[axis];
    averageAcc[axis] += acc[axis];
  }
 
  differential[YAW] = gyroD[YAW];
 
  averageAccCount++;
  yawRate = yawGyro + driftCompYaw;
 
  // We are done reading variables from the analog module.
  // Interrupt-driven sensor reading may restart.
  analogDataReady = 0;
  analog_start();
}
 
void integrate(void) {
  // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
  uint8_t axis;
 
 
 
 
 
    // TODO: Multiply on a factor on control. Wont work without...
  if (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE) {
    error[PITCH] += control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]);
    error[ROLL]  += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL]  : -rate_ATT[ROLL]);
    error[YAW]   += control[CONTROL_RUDDER]   + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
 
    angle[PITCH] += rate_ATT[PITCH];
    angle[ROLL]  += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL]  : -rate_ATT[ROLL]);
    angle[YAW] += control[CONTROL_RUDDER]   + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
} else {
    error[PITCH] += control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]);
    error[ROLL]  += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL]  : -rate_ATT[ROLL]);
    error[YAW]   += control[CONTROL_RUDDER]   + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
    angle[PITCH] += rate_ATT[PITCH];
    angle[ROLL]  += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL]  : -rate_ATT[ROLL]);
    angle[YAW] += control[CONTROL_RUDDER]   + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
  }
 
// TODO: Configurable.
#define ERRORLIMIT 1000
for (axis=PITCH; axis<=YAW; axis++) {
  if (error[axis] > ERRORLIMIT) {
        error[axis] = ERRORLIMIT;
    } else if (angle[axis] <= -ERRORLIMIT) {
        angle[axis] = -ERRORLIMIT;
    }
}
   
 
 
 
 
 
 
 
 
 
 
 
 
 
  /*
   * Pitch axis integration and range boundary wrap.
   */
  for (axis = PITCH; axis <= ROLL; axis++) {
    angle[axis] += rate_ATT[axis];
    if (angle[axis] > PITCHROLLOVER180) {
      angle[axis] -= PITCHROLLOVER360;
    } else if (angle[axis] <= -PITCHROLLOVER180) {
      angle[axis] += PITCHROLLOVER360;
    }
  }
 
    /*
     * Yaw
     * Calculate yaw gyro integral (~ to rotation angle)
     * Limit yawGyroHeading proportional to 0 deg to 360 deg
     */
    if (angle[YAW] >= YAWOVER360) {
        angle[YAW] -= YAWOVER360; // 360 deg. wrap
    } else if (angle[YAW] < 0) {
        angle[YAW] += YAWOVER360;
    }
   
}
 
/************************************************************************
 * A kind of 0'th order integral correction, that corrects the integrals
 * directly. This is the "gyroAccFactor" stuff in the original code.
 * There is (there) also a drift compensation
 * - it corrects the differential of the integral = the gyro offsets.
 * That should only be necessary with drifty gyros like ENC-03.
 ************************************************************************/
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.
  uint8_t axis;
  int32_t temp;
  if (acc[Z] >= -staticParams.accCorrectionZAccLimit && acc[Z]
      <= dynamicParams.UserParams[7]) {
    DebugOut.Digital[0] |= DEBUG_ACC0THORDER;
 
    uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
    uint8_t debugFullWeight = 1;
    int32_t accDerived;
 
    if ((control[YAW] < -64) || (control[YAW] > 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 (debugFullWeight)
      DebugOut.Digital[1] |= DEBUG_ACC0THORDER;
    else
      DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
 
    /*
     * 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] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
 
      // 1000 * the correction amount that will be added to the gyro angle in next line.
      temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
      angle[axis] = ((int32_t) (1000L - permilleAcc) * temp
          + (int32_t) permilleAcc * accDerived) / 1000L;
      correctionSum[axis] += angle[axis] - temp;
    }
  } else {
    DebugOut.Digital[0] &= ~DEBUG_ACC0THORDER;
    DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
    // DebugOut.Analog[9] = 0;
    // DebugOut.Analog[10] = 0;
 
    DebugOut.Analog[16] = 0;
    DebugOut.Analog[17] = 0;
    // experiment: Kill drift compensation updates when not flying smooth.
    correctionSum[PITCH] = correctionSum[ROLL] = 0;
  }
}
 
/************************************************************************
 * This is an attempt to correct not the error in the angle integrals
 * (that happens in correctIntegralsByAcc0thOrder above) but rather the
 * cause of it: Gyro drift, vibration and rounding errors.
 * All the corrections made in correctIntegralsByAcc0thOrder over
 * DRIFTCORRECTION_TIME cycles are summed up. This number is
 * then divided by DRIFTCORRECTION_TIME to get the approx.
 * correction that should have been applied to each iteration to fix
 * the error. This is then added to the dynamic offsets.
 ************************************************************************/
// 2 times / sec. = 488/2
#define DRIFTCORRECTION_TIME 256L
void driftCorrection(void) {
  static int16_t timer = DRIFTCORRECTION_TIME;
  int16_t deltaCorrection;
  int16_t round;
  uint8_t axis;
 
  if (!--timer) {
    timer = DRIFTCORRECTION_TIME;
    for (axis = PITCH; axis <= ROLL; axis++) {
      // Take the sum of corrections applied, add it to delta
      if (correctionSum[axis] >=0)
        round = DRIFTCORRECTION_TIME / 2;
      else
        round = -DRIFTCORRECTION_TIME / 2;
      deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;
      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
      driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;
      CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);
      // DebugOut.Analog[11 + axis] = correctionSum[axis];
      DebugOut.Analog[16 + axis] = correctionSum[axis];
      DebugOut.Analog[28 + axis] = driftComp[axis];
 
      correctionSum[axis] = 0;
    }
  }
}
 
/************************************************************************
 * Main procedure.
 ************************************************************************/
void calculateFlightAttitude(void) {
  getAnalogData();
  integrate();
 
  DebugOut.Analog[3] = rate_PID[PITCH];
  DebugOut.Analog[4] = rate_PID[ROLL];
  DebugOut.Analog[5] = yawRate;
 
#ifdef ATTITUDE_USE_ACC_SENSORS
  correctIntegralsByAcc0thOrder();
  driftCorrection();
#endif
}
 

Rev 1926	Rev 1927
1	/************************************************************************/	1	/************************************************************************/
2	/* Flight Attitude */	2	/* Flight Attitude */
3	/************************************************************************/	3	/************************************************************************/
4		4
5	#include <stdlib.h>	5	#include <stdlib.h>
6	#include <avr/io.h>	6	#include <avr/io.h>
7		7
8	#include "attitude.h"	8	#include "attitude.h"
9	#include "dongfangMath.h"	9	#include "dongfangMath.h"
10		10
11	// For scope debugging only!	11	// For scope debugging only!
12	#include "rc.h"	12	#include "rc.h"
13		13
14	// where our main data flow comes from.	14	// where our main data flow comes from.
15	#include "analog.h"	15	#include "analog.h"
16		16
17	#include "configuration.h"	17	#include "configuration.h"
18	#include "output.h"	18	#include "output.h"
19		19
20	// Some calculations are performed depending on some stick related things.	20	// Some calculations are performed depending on some stick related things.
21	#include "controlMixer.h"	21	#include "controlMixer.h"
22		22
23	// For Servo_On / Off	23	// For Servo_On / Off
24	// #include "timer2.h"	24	// #include "timer2.h"
25		25
26	#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}	26	#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
27		27
28	/*	28	/*
29	* Gyro readings, as read from the analog module. It would have been nice to flow	29	* Gyro readings, as read from the analog module. It would have been nice to flow
30	* them around between the different calculations as a struct or array (doing	30	* them around between the different calculations as a struct or array (doing
31	* things functionally without side effects) but this is shorter and probably	31	* things functionally without side effects) but this is shorter and probably
32	* faster too.	32	* faster too.
33	* The variables are overwritten at each attitude calculation invocation - the values	33	* The variables are overwritten at each attitude calculation invocation - the values
34	* are not preserved or reused.	34	* are not preserved or reused.
35	*/	35	*/
36	int16_t rate_ATT[2], yawRate;	36	int16_t rate_ATT[2], yawRate;
37		37
38	// With different (less) filtering	38	// With different (less) filtering
39	int16_t rate_PID[2];	39	int16_t rate_PID[2];
40	int16_t differential[3];	40	int16_t differential[3];
41		41
42	/*	42	/*
43	* Gyro integrals. These are the rotation angles of the airframe compared to the	43	* Gyro integrals. These are the rotation angles of the airframe compared to the
44	* horizontal plane, yaw relative to yaw at start. Not really used for anything else	44	* horizontal plane, yaw relative to yaw at start. Not really used for anything else
45	* than diagnostics.	45	* than diagnostics.
46	*/	46	*/
47	int32_t angle[2];	47	int32_t angle[3];
48		48
49	/*	49	/*
50	* Error integrals. Stick is always positive. Gyro is configurable positive or negative.	50	* Error integrals. Stick is always positive. Gyro is configurable positive or negative.
51	* These represent the deviation of the attitude angle from the desired on each axis.	51	* These represent the deviation of the attitude angle from the desired on each axis.
52	*/	52	*/
53	int32_t error[3];	53	int32_t error[3];
54		-
55	// Yaw angle and compass stuff.	-
56	// This is updated/written from MM3. Negative angle indicates invalid data.	-
57	int16_t compassHeading = -1;	-
58		-
59	// This is NOT updated from MM3. Negative angle indicates invalid data.	-
60	int16_t compassCourse = -1;	-
61		-
62	// The difference between the above 2 (heading - course) on a -180..179 degree interval.	-
63	// Not necessary. Never read anywhere.	-
64	// int16_t compassOffCourse = 0;	-
65		-
66	uint8_t updateCompassCourse = 0;	-
67	uint8_t compassCalState = 0;	-
68	uint16_t ignoreCompassTimer = 500;	-
69		54
70	int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass	55	int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass
71		56
72	int16_t correctionSum[2] = { 0, 0 };	57	int16_t correctionSum[2] = { 0, 0 };
73		58
74	// For NaviCTRL use.	59	// For NaviCTRL use.
75	int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0;	60	int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0;
76		61
77	/*	62	/*
78	* Experiment: Compensating for dynamic-induced gyro biasing.	63	* Experiment: Compensating for dynamic-induced gyro biasing.
79	*/	64	*/
80	int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0;	65	int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0;
81	// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;	66	// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
82	// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;	67	// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
83	// int16_t dynamicCalCount;	68	// int16_t dynamicCalCount;
84		69
85	/************************************************************************	70	/************************************************************************
86	* Set inclination angles from the acc. sensor data.	71	* Set inclination angles from the acc. sensor data.
87	* If acc. sensors are not used, set to zero.	72	* If acc. sensors are not used, set to zero.
88	* TODO: One could use inverse sine to calculate the angles more	73	* TODO: One could use inverse sine to calculate the angles more
89	* accurately, but since: 1) the angles are rather small at times when	74	* accurately, but since: 1) the angles are rather small at times when
90	* it makes sense to set the integrals (standing on ground, or flying at	75	* it makes sense to set the integrals (standing on ground, or flying at
91	* constant speed, and 2) at small angles a, sin(a) ~= constant * a,	76	* constant speed, and 2) at small angles a, sin(a) ~= constant * a,
92	* it is hardly worth the trouble.	77	* it is hardly worth the trouble.
93	************************************************************************/	78	************************************************************************/
94		79
95	int32_t getAngleEstimateFromAcc(uint8_t axis) {	80	int32_t getAngleEstimateFromAcc(uint8_t axis) {
96	return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis];	81	return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis];
97	}	82	}
98		83
99	void setStaticAttitudeAngles(void) {	84	void setStaticAttitudeAngles(void) {
100	#ifdef ATTITUDE_USE_ACC_SENSORS	85	#ifdef ATTITUDE_USE_ACC_SENSORS
101	angle[PITCH] = getAngleEstimateFromAcc(PITCH);	86	angle[PITCH] = getAngleEstimateFromAcc(PITCH);
102	angle[ROLL] = getAngleEstimateFromAcc(ROLL);	87	angle[ROLL] = getAngleEstimateFromAcc(ROLL);
103	#else	88	#else
104	angle[PITCH] = angle[ROLL] = 0;	89	angle[PITCH] = angle[ROLL] = 0;
105	#endif	90	#endif
106	}	91	}
107		92
108	/************************************************************************	93	/************************************************************************
109	* Neutral Readings	94	* Neutral Readings
110	************************************************************************/	95	************************************************************************/
111	void attitude_setNeutral(void) {	96	void attitude_setNeutral(void) {
112	// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.	97	// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
113	driftComp[PITCH] = driftComp[ROLL];	98	driftComp[PITCH] = driftComp[ROLL];
114	correctionSum[PITCH] = correctionSum[ROLL] = 0;	99	correctionSum[PITCH] = correctionSum[ROLL] = 0;
115		100
116	// Calibrate hardware.	101	// Calibrate hardware.
117	analog_calibrate();	102	analog_calibrate();
118		103
119	// reset gyro integrals to acc guessing	104	// reset gyro integrals to acc guessing
120	setStaticAttitudeAngles();	105	setStaticAttitudeAngles();
121		-
122	// update compass course to current heading	-
123	compassCourse = compassHeading;	-
124		106
125	// Inititialize YawGyroIntegral value with current compass heading	107	// Inititialize YawGyroIntegral value with current compass heading
126	yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW;	108	angle[YAW] = 0;
127		109
128	// Servo_On(); //enable servo output	110	// Servo_On(); //enable servo output
129	}	111	}
130		112
131	/************************************************************************	113	/************************************************************************
132	* Get sensor data from the analog module, and release the ADC	114	* Get sensor data from the analog module, and release the ADC
133	* TODO: Ultimately, the analog module could do this (instead of dumping	115	* TODO: Ultimately, the analog module could do this (instead of dumping
134	* the values into variables).	116	* the values into variables).
135	* The rate variable end up in a range of about [-1024, 1023].	117	* The rate variable end up in a range of about [-1024, 1023].
136	*************************************************************************/	118	*************************************************************************/
137	void getAnalogData(void) {	119	void getAnalogData(void) {
138	uint8_t axis;	120	uint8_t axis;
139		121
140	for (axis = PITCH; axis <= ROLL; axis++) {	122	for (axis = PITCH; axis <= ROLL; axis++) {
141	rate_PID[axis] = gyro_PID[axis] + driftComp[axis];	123	rate_PID[axis] = gyro_PID[axis] + driftComp[axis];
142	rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis];	124	rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis];
143	differential[axis] = gyroD[axis];	125	differential[axis] = gyroD[axis];
144	averageAcc[axis] += acc[axis];	126	averageAcc[axis] += acc[axis];
145	}	127	}
146		128
147	differential[YAW] = gyroD[YAW];	129	differential[YAW] = gyroD[YAW];
148		130
149	averageAccCount++;	131	averageAccCount++;
150	yawRate = yawGyro + driftCompYaw;	132	yawRate = yawGyro + driftCompYaw;
151		133
152	// We are done reading variables from the analog module.	134	// We are done reading variables from the analog module.
153	// Interrupt-driven sensor reading may restart.	135	// Interrupt-driven sensor reading may restart.
154	analogDataReady = 0;	136	analogDataReady = 0;
155	analog_start();	137	analog_start();
156	}	138	}
157		139
158	void integrate(void) {	140	void integrate(void) {
159	// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.	141	// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
160	uint8_t axis;	142	uint8_t axis;
161		143
162	// TODO: Multiply on a factor. Wont work without...	-
163	error[PITCH] += control[CONTROL_ELEVATOR];	-
164	error[ROLL] += control[CONTROL_AILERONS];	-
165	error[YAW] += control[CONTROL_RUDDER];	-
166		144	// TODO: Multiply on a factor on control. Wont work without...
167	if (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE) {	145	if (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE) {
168	error[PITCH] += control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]);	146	error[PITCH] += control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]);
169	error[ROLL] += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]);	147	error[ROLL] += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]);
-		148	error[YAW] += control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
-		149
-		150	angle[PITCH] += rate_ATT[PITCH];
-		151	angle[ROLL] += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]);
170	error[YAW] += control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);	152	angle[YAW] += control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
171	} else {	153	} else {
172	error[PITCH] += control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]);	154	error[PITCH] += control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]);
173	error[ROLL] += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]);	155	error[ROLL] += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]);
-		156	error[YAW] += control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
-		157	angle[PITCH] += rate_ATT[PITCH];
-		158	angle[ROLL] += control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]);
174	error[YAW] += control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);	159	angle[YAW] += control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? yawRate : -yawRate);
-		160	}
-		161
175	}	162	// TODO: Configurable.
176		163	#define ERRORLIMIT 1000
177	for (axis=PITCH; axis<=YAW; axis++) {	164	for (axis=PITCH; axis<=YAW; axis++) {
178	if (error[axis] > ERRORLIMIT) {	165	if (error[axis] > ERRORLIMIT) {
179	error[axis] = ERRORLIMIT;	166	error[axis] = ERRORLIMIT;
180	} else if (angle[axis] <= -ERRORLIMIT) {	167	} else if (angle[axis] <= -ERRORLIMIT) {
181	angle[axis] = -ERRORLIMIT;	168	angle[axis] = -ERRORLIMIT;
182	}	169	}
183	}	170	}
184		171
185	/*	-
186	* Yaw	-
187	* Calculate yaw gyro integral (~ to rotation angle)	-
188	* Limit yawGyroHeading proportional to 0 deg to 360 deg	-
189	*/	-
190	yawGyroHeading += ACYawRate;	-
191		-
192	if (yawGyroHeading >= YAWOVER360) {	-
193	yawGyroHeading -= YAWOVER360; // 360 deg. wrap	-
194	} else if (yawGyroHeading < 0) {	-
195	yawGyroHeading += YAWOVER360;	-
196	}	-
197		-
198	/*	172	/*
199	* Pitch axis integration and range boundary wrap.	173	* Pitch axis integration and range boundary wrap.
200	*/	174	*/
201	for (axis = PITCH; axis <= ROLL; axis++) {	175	for (axis = PITCH; axis <= ROLL; axis++) {
202	angle[axis] += rate_ATT[axis];	176	angle[axis] += rate_ATT[axis];
203	if (angle[axis] > PITCHROLLOVER180) {	177	if (angle[axis] > PITCHROLLOVER180) {
204	angle[axis] -= PITCHROLLOVER360;	178	angle[axis] -= PITCHROLLOVER360;
205	} else if (angle[axis] <= -PITCHROLLOVER180) {	179	} else if (angle[axis] <= -PITCHROLLOVER180) {
206	angle[axis] += PITCHROLLOVER360;	180	angle[axis] += PITCHROLLOVER360;
207	}	181	}
208	}	182	}
-		183
-		184	/*
-		185	* Yaw
-		186	* Calculate yaw gyro integral (~ to rotation angle)
-		187	* Limit yawGyroHeading proportional to 0 deg to 360 deg
-		188	*/
-		189	if (angle[YAW] >= YAWOVER360) {
-		190	angle[YAW] -= YAWOVER360; // 360 deg. wrap
-		191	} else if (angle[YAW] < 0) {
-		192	angle[YAW] += YAWOVER360;
-		193	}
-		194
209	}	195	}
210		196
211	/************************************************************************	197	/************************************************************************
212	* A kind of 0'th order integral correction, that corrects the integrals	198	* A kind of 0'th order integral correction, that corrects the integrals
213	* directly. This is the "gyroAccFactor" stuff in the original code.	199	* directly. This is the "gyroAccFactor" stuff in the original code.
214	* There is (there) also a drift compensation	200	* There is (there) also a drift compensation
215	* - it corrects the differential of the integral = the gyro offsets.	201	* - it corrects the differential of the integral = the gyro offsets.
216	* That should only be necessary with drifty gyros like ENC-03.	202	* That should only be necessary with drifty gyros like ENC-03.
217	************************************************************************/	203	************************************************************************/
218	void correctIntegralsByAcc0thOrder(void) {	204	void correctIntegralsByAcc0thOrder(void) {
219	// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities	205	// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
220	// are less than ....., or reintroduce Kalman.	206	// are less than ....., or reintroduce Kalman.
221	// Well actually the Z axis acc. check is not so silly.	207	// Well actually the Z axis acc. check is not so silly.
222	uint8_t axis;	208	uint8_t axis;
223	int32_t temp;	209	int32_t temp;
224	if (acc[Z] >= -dynamicParams.UserParams[7] && acc[Z]	210	if (acc[Z] >= -staticParams.accCorrectionZAccLimit && acc[Z]
225	<= dynamicParams.UserParams[7]) {	211	<= dynamicParams.UserParams[7]) {
226	DebugOut.Digital[0] \|= DEBUG_ACC0THORDER;	212	DebugOut.Digital[0] \|= DEBUG_ACC0THORDER;
227		213
228	uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!	214	uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
229	uint8_t debugFullWeight = 1;	215	uint8_t debugFullWeight = 1;
230	int32_t accDerived;	216	int32_t accDerived;
231		217
232	if ((control[YAW] < -64) \|\| (control[YAW] > 64)) { // reduce further if yaw stick is active	218	if ((control[YAW] < -64) \|\| (control[YAW] > 64)) { // reduce further if yaw stick is active
233	permilleAcc /= 2;	219	permilleAcc /= 2;
234	debugFullWeight = 0;	220	debugFullWeight = 0;
235	}	221	}
236		222
237	if ((maxControl[PITCH] > 64) \|\| (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity.	223	if ((maxControl[PITCH] > 64) \|\| (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity.
238	permilleAcc /= 2;	224	permilleAcc /= 2;
239	debugFullWeight = 0;	225	debugFullWeight = 0;
240	}	226	}
241		227
242	if (debugFullWeight)	228	if (debugFullWeight)
243	DebugOut.Digital[1] \|= DEBUG_ACC0THORDER;	229	DebugOut.Digital[1] \|= DEBUG_ACC0THORDER;
244	else	230	else
245	DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;	231	DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
246		232
247	/*	233	/*
248	* Add to each sum: The amount by which the angle is changed just below.	234	* Add to each sum: The amount by which the angle is changed just below.
249	*/	235	*/
250	for (axis = PITCH; axis <= ROLL; axis++) {	236	for (axis = PITCH; axis <= ROLL; axis++) {
251	accDerived = getAngleEstimateFromAcc(axis);	237	accDerived = getAngleEstimateFromAcc(axis);
252	// DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;	238	// DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
253		239
254	// 1000 * the correction amount that will be added to the gyro angle in next line.	240	// 1000 * the correction amount that will be added to the gyro angle in next line.
255	temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;	241	temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
256	angle[axis] = ((int32_t) (1000L - permilleAcc) * temp	242	angle[axis] = ((int32_t) (1000L - permilleAcc) * temp
257	+ (int32_t) permilleAcc * accDerived) / 1000L;	243	+ (int32_t) permilleAcc * accDerived) / 1000L;
258	correctionSum[axis] += angle[axis] - temp;	244	correctionSum[axis] += angle[axis] - temp;
259	}	245	}
260	} else {	246	} else {
261	DebugOut.Digital[0] &= ~DEBUG_ACC0THORDER;	247	DebugOut.Digital[0] &= ~DEBUG_ACC0THORDER;
262	DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;	248	DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
263	// DebugOut.Analog[9] = 0;	249	// DebugOut.Analog[9] = 0;
264	// DebugOut.Analog[10] = 0;	250	// DebugOut.Analog[10] = 0;
265		251
266	DebugOut.Analog[16] = 0;	252	DebugOut.Analog[16] = 0;
267	DebugOut.Analog[17] = 0;	253	DebugOut.Analog[17] = 0;
268	// experiment: Kill drift compensation updates when not flying smooth.	254	// experiment: Kill drift compensation updates when not flying smooth.
269	correctionSum[PITCH] = correctionSum[ROLL] = 0;	255	correctionSum[PITCH] = correctionSum[ROLL] = 0;
270	}	256	}
271	}	257	}
272		258
273	/************************************************************************	259	/************************************************************************
274	* This is an attempt to correct not the error in the angle integrals	260	* This is an attempt to correct not the error in the angle integrals
275	* (that happens in correctIntegralsByAcc0thOrder above) but rather the	261	* (that happens in correctIntegralsByAcc0thOrder above) but rather the
276	* cause of it: Gyro drift, vibration and rounding errors.	262	* cause of it: Gyro drift, vibration and rounding errors.
277	* All the corrections made in correctIntegralsByAcc0thOrder over	263	* All the corrections made in correctIntegralsByAcc0thOrder over
278	* DRIFTCORRECTION_TIME cycles are summed up. This number is	264	* DRIFTCORRECTION_TIME cycles are summed up. This number is
279	* then divided by DRIFTCORRECTION_TIME to get the approx.	265	* then divided by DRIFTCORRECTION_TIME to get the approx.
280	* correction that should have been applied to each iteration to fix	266	* correction that should have been applied to each iteration to fix
281	* the error. This is then added to the dynamic offsets.	267	* the error. This is then added to the dynamic offsets.
282	************************************************************************/	268	************************************************************************/
283	// 2 times / sec. = 488/2	269	// 2 times / sec. = 488/2
284	#define DRIFTCORRECTION_TIME 256L	270	#define DRIFTCORRECTION_TIME 256L
285	void driftCorrection(void) {	271	void driftCorrection(void) {
286	static int16_t timer = DRIFTCORRECTION_TIME;	272	static int16_t timer = DRIFTCORRECTION_TIME;
287	int16_t deltaCorrection;	273	int16_t deltaCorrection;
288	int16_t round;	274	int16_t round;
289	uint8_t axis;	275	uint8_t axis;
290		276
291	if (!--timer) {	277	if (!--timer) {
292	timer = DRIFTCORRECTION_TIME;	278	timer = DRIFTCORRECTION_TIME;
293	for (axis = PITCH; axis <= ROLL; axis++) {	279	for (axis = PITCH; axis <= ROLL; axis++) {
294	// Take the sum of corrections applied, add it to delta	280	// Take the sum of corrections applied, add it to delta
295	if (correctionSum[axis] >=0)	281	if (correctionSum[axis] >=0)
296	round = DRIFTCORRECTION_TIME / 2;	282	round = DRIFTCORRECTION_TIME / 2;
297	else	283	else
298	round = -DRIFTCORRECTION_TIME / 2;	284	round = -DRIFTCORRECTION_TIME / 2;
299	deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;	285	deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;
300	// Add the delta to the compensation. So positive delta means, gyro should have higher value.	286	// Add the delta to the compensation. So positive delta means, gyro should have higher value.
301	driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;	287	driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;
302	CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);	288	CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);
303	// DebugOut.Analog[11 + axis] = correctionSum[axis];	289	// DebugOut.Analog[11 + axis] = correctionSum[axis];
304	DebugOut.Analog[16 + axis] = correctionSum[axis];	290	DebugOut.Analog[16 + axis] = correctionSum[axis];
305	DebugOut.Analog[28 + axis] = driftComp[axis];	291	DebugOut.Analog[28 + axis] = driftComp[axis];
306		292
307	correctionSum[axis] = 0;	293	correctionSum[axis] = 0;
308	}	294	}
309	}	295	}
310	}	296	}
311		297
312	/************************************************************************	298	/************************************************************************
313	* Main procedure.	299	* Main procedure.
314	************************************************************************/	300	************************************************************************/
315	void calculateFlightAttitude(void) {	301	void calculateFlightAttitude(void) {
316	getAnalogData();	302	getAnalogData();
317	integrate();	303	integrate();
318		304
319	DebugOut.Analog[3] = rate_PID[PITCH];	305	DebugOut.Analog[3] = rate_PID[PITCH];
320	DebugOut.Analog[4] = rate_PID[ROLL];	306	DebugOut.Analog[4] = rate_PID[ROLL];
321	DebugOut.Analog[5] = yawRate;	307	DebugOut.Analog[5] = yawRate;
322		308
323	#ifdef ATTITUDE_USE_ACC_SENSORS	309	#ifdef ATTITUDE_USE_ACC_SENSORS
324	correctIntegralsByAcc0thOrder();	310	correctIntegralsByAcc0thOrder();
325	driftCorrection();	311	driftCorrection();
326	#endif	312	#endif
327	}	313	}
328		314

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/attitude.c @ 2474 - Rev 1926 → 1927