WebSVN - FlightCtrl - Diff - Rev 1955 and 1960 - /branches/dongfang_FC


#ifndef _ANALOG_H
#define _ANALOG_H
#include <inttypes.h>
 
//#include "invenSense.h"
//#include "ENC-03_FC1.3.h"
//#include "ADXRS610_FC2.0.h"
 
/*
 * How much low pass filtering to apply for gyro_PID.
 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
 * Temporarily replaced by userparam-configurable variable.
 */
// #define GYROS_PID_FILTER 1
 
/*
 * How much low pass filtering to apply for gyro_ATT.
 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
 * Temporarily replaced by userparam-configurable variable.
 */
// #define GYROS_ATT_FILTER 1
 
// Temporarily replaced by userparam-configurable variable.
// #define ACC_FILTER 4
 
/*
 About setting constants for different gyros:
 Main parameters are positive directions and voltage/angular speed gain.
 The "Positive direction" is the rotation direction around an axis where
 the corresponding gyro outputs a voltage > the no-rotation voltage.
 A gyro is considered, in this code, to be "forward" if its positive
 direction is:
 - Nose down for pitch
 - Left hand side down for roll
 - Clockwise seen from above for yaw.
 Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
 GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
 
 Setting gyro gain correctly: All sensor measurements in analog.c take
 place in a cycle, each cycle comprising all sensors. Some sensors are
 sampled more than ones, and the results added. The pitch and roll gyros
 are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74
 code.
 In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)
 or 4 (other versions), offset to zero, low pass filtered and then assigned
 to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or
 roll.
 So:
 
 gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),
 where V is 2 for FC1.0 and 4 for all others.
 
 Assuming constant ADCValue, in the H&I code:
 
 gyro = I * ADCValue.
 
 where I is 8 for FC1.0 and 16 for all others.
 
 The relation between rotation rate and ADCValue:
 ADCValue [units] =
 rotational speed [deg/s] *
 gyro sensitivity [V / deg/s] *
 amplifier gain [units] *
 1024 [units] /
 3V full range [V]
 
 or: H is the number of steps the ADC value changes with,
 for a 1 deg/s change in rotational velocity:
 H = ADCValue [units] / rotation rate [deg/s] =
 gyro sensitivity [V / deg/s] *
 amplifier gain [units] *
 1024 [units] /
 3V full range [V]
 
 Examples:
 FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:
 H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).
 FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:
 H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).
 My InvenSense copter has 2mV/deg/s gyros and no amplifiers:
 H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
 (only about half as sensitive as V1.3. But it will take about twice the
 rotation rate!)
 
 All together: gyro = I * H * rotation rate [units / (deg/s)].
 */
 
/*
 * A factor that the raw gyro values are multiplied by,
 * before being filtered and passed to the attitude module.
 * A value of 1 would cause a little bit of loss of precision in the
 * filtering (on the other hand the values are so noisy in flight that
 * it will not really matter - but when testing on the desk it might be
 * noticeable). 4 is fine for the default filtering.
 * Experiment: Set it to 1.
 */
#define GYRO_FACTOR_PITCHROLL 1
 
/*
 * How many samples are summed in one ADC loop, for pitch&roll and yaw,
 * respectively. This is = the number of occurences of each channel in the
 * channelsForStates array in analog.c.
 */
#define GYRO_SUMMATION_FACTOR_PITCHROLL 4
#define GYRO_SUMMATION_FACTOR_YAW 2
 
#define ACC_SUMMATION_FACTOR_PITCHROLL 2
#define ACC_SUMMATION_FACTOR_Z 1
 
/*
 Integration:
 The HiResXXXX values are divided by 8 (in H&I firmware) before integration.
 In the Killagreg rewrite of the H&I firmware, the factor 8 is called
 HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,
 and care has been taken that all other constants (gyro to degree factor, and
 180 degree flip-over detection limits) are corrected to it. Because the
 division by the constant takes place in the flight attitude code, the
 constant is there.
 
 The control loop executes every 2ms, and for each iteration
 gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].
 Assuming a constant rotation rate v and a zero initial gyroIntegral
 (for this explanation), we get:
 
 gyroIntegral =
 N * gyro / HIRES_GYRO_INTEGRATION_FACTOR =
 N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR
 
 where N is the number of summations; N = t/2ms.
 
 For one degree of rotation: t*v = 1:
 
 gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.
 
 This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.
 
 Examples:
 FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304
 FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260
 My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365
 */
 
/*
 * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
 * Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
 */
#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)
#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)
 
/*
 * Gyro saturation prevention.
 */
// How far from the end of its range a gyro is considered near-saturated.
#define SENSOR_MIN_PITCHROLL 32
// Other end of the range (calculated)
#define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
// Max. boost to add "virtually" to gyro signal at total saturation.
#define EXTRAPOLATION_LIMIT 2500
// Slope of the boost (calculated)
#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)
 
/*
 * This value is subtracted from the gyro noise measurement in each iteration,
 * making it return towards zero.
 */
#define GYRO_NOISE_MEASUREMENT_DAMPING 5
 
#define PITCH 0
#define ROLL 1
#define YAW 2
#define Z 2
/*
 * The values that this module outputs
 * These first 2 exported arrays are zero-offset. The "PID" ones are used
 * in the attitude control as rotation rates. The "ATT" ones are for
 * integration to angles. For the same axis, the PID and ATT variables
 * generally have about the same values. There are just some differences
 * in filtering, and when a gyro becomes near saturated.
 * Maybe this distinction is not really necessary.
 */
extern volatile int16_t gyro_PID[2];
extern volatile int16_t gyro_ATT[2];
extern volatile int16_t gyroD[2];
extern volatile int16_t yawGyro;
extern volatile uint16_t ADCycleCount;
extern volatile int16_t UBat;
 
// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.
#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))
 
typedef struct {
  uint8_t checksum;
  uint8_t revisionNumber;
  int16_t offsets[3];
} sensorOffset_t;
 
extern sensorOffset_t gyroOffset;
extern sensorOffset_t accOffset;
 
/*
 * This is not really for external use - but the ENC-03 gyro modules needs it.
 */
extern volatile int16_t rawGyroSum[3];
 
/*
 * The acceleration values that this module outputs. They are zero based.
 */
extern volatile int16_t acc[3];
extern volatile int16_t filteredAcc[2];
// extern volatile int32_t stronglyFilteredAcc[3];
 
/*
 * Diagnostics: Gyro noise level because of motor vibrations. The variables
 * only really reflect the noise level when the copter stands still but with
 * its motors running.
 */
extern volatile uint16_t gyroNoisePeak[2];
extern volatile uint16_t accNoisePeak[2];
 
/*
 * Air pressure.
 * The sensor has a sensitivity of 46 mV/kPa.
 * An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h
 * That is: dV = 46 mV * 11.95 * 10^-3 dh = 0.5497 mV / m.
 * That is, with 2 * 1.024 / 3 steps per mV: 0.037 steps / m
 */
#define AIRPRESSURE_SUMMATION_FACTOR 16
#define AIRPRESSURE_FILTER 8
// Minimum A/D value before a range change is performed.
#define MIN_RAWPRESSURE (200 * 2)
// Maximum A/D value before a range change is performed.
#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
 
#define MIN_RANGES_EXTRAPOLATION 15
#define MAX_RANGES_EXTRAPOLATION 240
 
#define PRESSURE_EXTRAPOLATION_COEFF 25L
#define AUTORANGE_WAIT_FACTOR 1
 
extern volatile uint16_t simpleAirPressure;
/*
 * At saturation, the filteredAirPressure may actually be (simulated) negative.
 */
extern volatile int32_t filteredAirPressure;
 
/*
 * Flag: Interrupt handler has done all A/D conversion and processing.
 */
extern volatile uint8_t analogDataReady;
 
void analog_init(void);
 
/*
 * Start the conversion cycle. It will stop automatically.
 */
void startAnalogConversionCycle(void);
 
/*
 * Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.
 */
void analog_update(void);
 
/*
 * "Warm" calibration: Zero-offset gyros.
 */
void analog_calibrate(void);
 
/*
 * "Cold" calibration: Zero-offset accelerometers and write the calibration data to EEPROM.
 */
void analog_calibrateAcc(void);
#endif //_ANALOG_H
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/analog.h - Rev 1955 → 1960

Rev 1955		Rev 1960
1	#ifndef _ANALOG_H	1	#ifndef _ANALOG_H
2	#define _ANALOG_H	2	#define _ANALOG_H
3	#include <inttypes.h>	3	#include <inttypes.h>
4		4
5	//#include "invenSense.h"	5	//#include "invenSense.h"
6	//#include "ENC-03_FC1.3.h"	6	//#include "ENC-03_FC1.3.h"
7	//#include "ADXRS610_FC2.0.h"	7	//#include "ADXRS610_FC2.0.h"
8		8
9	/*	9	/*
10	* How much low pass filtering to apply for gyro_PID.	10	* How much low pass filtering to apply for gyro_PID.
11	* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...	11	* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
12	* Temporarily replaced by userparam-configurable variable.	12	* Temporarily replaced by userparam-configurable variable.
13	*/	13	*/
14	// #define GYROS_PID_FILTER 1	14	// #define GYROS_PID_FILTER 1
15		15
16	/*	16	/*
17	* How much low pass filtering to apply for gyro_ATT.	17	* How much low pass filtering to apply for gyro_ATT.
18	* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...	18	* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
19	* Temporarily replaced by userparam-configurable variable.	19	* Temporarily replaced by userparam-configurable variable.
20	*/	20	*/
21	// #define GYROS_ATT_FILTER 1	21	// #define GYROS_ATT_FILTER 1
22		22
23	// Temporarily replaced by userparam-configurable variable.	23	// Temporarily replaced by userparam-configurable variable.
24	// #define ACC_FILTER 4	24	// #define ACC_FILTER 4
25		25
26	/*	26	/*
27	About setting constants for different gyros:	27	About setting constants for different gyros:
28	Main parameters are positive directions and voltage/angular speed gain.	28	Main parameters are positive directions and voltage/angular speed gain.
29	The "Positive direction" is the rotation direction around an axis where	29	The "Positive direction" is the rotation direction around an axis where
30	the corresponding gyro outputs a voltage > the no-rotation voltage.	30	the corresponding gyro outputs a voltage > the no-rotation voltage.
31	A gyro is considered, in this code, to be "forward" if its positive	31	A gyro is considered, in this code, to be "forward" if its positive
32	direction is:	32	direction is:
33	- Nose down for pitch	33	- Nose down for pitch
34	- Left hand side down for roll	34	- Left hand side down for roll
35	- Clockwise seen from above for yaw.	35	- Clockwise seen from above for yaw.
36	Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and	36	Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
37	GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.	37	GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
38		38
39	Setting gyro gain correctly: All sensor measurements in analog.c take	39	Setting gyro gain correctly: All sensor measurements in analog.c take
40	place in a cycle, each cycle comprising all sensors. Some sensors are	40	place in a cycle, each cycle comprising all sensors. Some sensors are
41	sampled more than ones, and the results added. The pitch and roll gyros	41	sampled more than ones, and the results added. The pitch and roll gyros
42	are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74	42	are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74
43	code.	43	code.
44	In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)	44	In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)
45	or 4 (other versions), offset to zero, low pass filtered and then assigned	45	or 4 (other versions), offset to zero, low pass filtered and then assigned
46	to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or	46	to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or
47	roll.	47	roll.
48	So:	48	So:
49		49
50	gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),	50	gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4),
51	where V is 2 for FC1.0 and 4 for all others.	51	where V is 2 for FC1.0 and 4 for all others.
52		52
53	Assuming constant ADCValue, in the H&I code:	53	Assuming constant ADCValue, in the H&I code:
54		54
55	gyro = I * ADCValue.	55	gyro = I * ADCValue.
56		56
57	where I is 8 for FC1.0 and 16 for all others.	57	where I is 8 for FC1.0 and 16 for all others.
58		58
59	The relation between rotation rate and ADCValue:	59	The relation between rotation rate and ADCValue:
60	ADCValue [units] =	60	ADCValue [units] =
61	rotational speed [deg/s] *	61	rotational speed [deg/s] *
62	gyro sensitivity [V / deg/s] *	62	gyro sensitivity [V / deg/s] *
63	amplifier gain [units] *	63	amplifier gain [units] *
64	1024 [units] /	64	1024 [units] /
65	3V full range [V]	65	3V full range [V]
66		66
67	or: H is the number of steps the ADC value changes with,	67	or: H is the number of steps the ADC value changes with,
68	for a 1 deg/s change in rotational velocity:	68	for a 1 deg/s change in rotational velocity:
69	H = ADCValue [units] / rotation rate [deg/s] =	69	H = ADCValue [units] / rotation rate [deg/s] =
70	gyro sensitivity [V / deg/s] *	70	gyro sensitivity [V / deg/s] *
71	amplifier gain [units] *	71	amplifier gain [units] *
72	1024 [units] /	72	1024 [units] /
73	3V full range [V]	73	3V full range [V]
74		74
75	Examples:	75	Examples:
76	FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:	76	FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7:
77	H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).	77	H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s).
78	FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:	78	FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers:
79	H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).	79	H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s).
80	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:	80	My InvenSense copter has 2mV/deg/s gyros and no amplifiers:
81	H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)	81	H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
82	(only about half as sensitive as V1.3. But it will take about twice the	82	(only about half as sensitive as V1.3. But it will take about twice the
83	rotation rate!)	83	rotation rate!)
84		84
85	All together: gyro = I * H * rotation rate [units / (deg/s)].	85	All together: gyro = I * H * rotation rate [units / (deg/s)].
86	*/	86	*/
87		87
88	/*	88	/*
89	* A factor that the raw gyro values are multiplied by,	89	* A factor that the raw gyro values are multiplied by,
90	* before being filtered and passed to the attitude module.	90	* before being filtered and passed to the attitude module.
91	* A value of 1 would cause a little bit of loss of precision in the	91	* A value of 1 would cause a little bit of loss of precision in the
92	* filtering (on the other hand the values are so noisy in flight that	92	* filtering (on the other hand the values are so noisy in flight that
93	* it will not really matter - but when testing on the desk it might be	93	* it will not really matter - but when testing on the desk it might be
94	* noticeable). 4 is fine for the default filtering.	94	* noticeable). 4 is fine for the default filtering.
95	* Experiment: Set it to 1.	95	* Experiment: Set it to 1.
96	*/	96	*/
97	#define GYRO_FACTOR_PITCHROLL 1	97	#define GYRO_FACTOR_PITCHROLL 1
98		98
99	/*	99	/*
100	* How many samples are summed in one ADC loop, for pitch&roll and yaw,	100	* How many samples are summed in one ADC loop, for pitch&roll and yaw,
101	* respectively. This is = the number of occurences of each channel in the	101	* respectively. This is = the number of occurences of each channel in the
102	* channelsForStates array in analog.c.	102	* channelsForStates array in analog.c.
103	*/	103	*/
104	#define GYRO_SUMMATION_FACTOR_PITCHROLL 4	104	#define GYRO_SUMMATION_FACTOR_PITCHROLL 4
105	#define GYRO_SUMMATION_FACTOR_YAW 2	105	#define GYRO_SUMMATION_FACTOR_YAW 2
106		106
107	#define ACC_SUMMATION_FACTOR_PITCHROLL 2	107	#define ACC_SUMMATION_FACTOR_PITCHROLL 2
108	#define ACC_SUMMATION_FACTOR_Z 1	108	#define ACC_SUMMATION_FACTOR_Z 1
109		109
110	/*	110	/*
111	Integration:	111	Integration:
112	The HiResXXXX values are divided by 8 (in H&I firmware) before integration.	112	The HiResXXXX values are divided by 8 (in H&I firmware) before integration.
113	In the Killagreg rewrite of the H&I firmware, the factor 8 is called	113	In the Killagreg rewrite of the H&I firmware, the factor 8 is called
114	HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,	114	HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR,
115	and care has been taken that all other constants (gyro to degree factor, and	115	and care has been taken that all other constants (gyro to degree factor, and
116	180 degree flip-over detection limits) are corrected to it. Because the	116	180 degree flip-over detection limits) are corrected to it. Because the
117	division by the constant takes place in the flight attitude code, the	117	division by the constant takes place in the flight attitude code, the
118	constant is there.	118	constant is there.
119		119
120	The control loop executes every 2ms, and for each iteration	120	The control loop executes every 2ms, and for each iteration
121	gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].	121	gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].
122	Assuming a constant rotation rate v and a zero initial gyroIntegral	122	Assuming a constant rotation rate v and a zero initial gyroIntegral
123	(for this explanation), we get:	123	(for this explanation), we get:
124		124
125	gyroIntegral =	125	gyroIntegral =
126	N * gyro / HIRES_GYRO_INTEGRATION_FACTOR =	126	N * gyro / HIRES_GYRO_INTEGRATION_FACTOR =
127	N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR	127	N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR
128		128
129	where N is the number of summations; N = t/2ms.	129	where N is the number of summations; N = t/2ms.
130		130
131	For one degree of rotation: t*v = 1:	131	For one degree of rotation: t*v = 1:
132		132
133	gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.	133	gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR.
134		134
135	This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.	135	This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.
136		136
137	Examples:	137	Examples:
138	FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304	138	FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304
139	FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260	139	FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260
140	My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365	140	My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365
141	*/	141	*/
142		142
143	/*	143	/*
144	* The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.	144	* The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
145	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.	145	* Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
146	*/	146	*/
147	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)	147	#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)
148	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)	148	#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)
149		149
150	/*	150	/*
151	* Gyro saturation prevention.	151	* Gyro saturation prevention.
152	*/	152	*/
153	// How far from the end of its range a gyro is considered near-saturated.	153	// How far from the end of its range a gyro is considered near-saturated.
154	#define SENSOR_MIN_PITCHROLL 32	154	#define SENSOR_MIN_PITCHROLL 32
155	// Other end of the range (calculated)	155	// Other end of the range (calculated)
156	#define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)	156	#define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
157	// Max. boost to add "virtually" to gyro signal at total saturation.	157	// Max. boost to add "virtually" to gyro signal at total saturation.
158	#define EXTRAPOLATION_LIMIT 2500	158	#define EXTRAPOLATION_LIMIT 2500
159	// Slope of the boost (calculated)	159	// Slope of the boost (calculated)
160	#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)	160	#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)
161		161
162	/*	162	/*
163	* This value is subtracted from the gyro noise measurement in each iteration,	163	* This value is subtracted from the gyro noise measurement in each iteration,
164	* making it return towards zero.	164	* making it return towards zero.
165	*/	165	*/
166	#define GYRO_NOISE_MEASUREMENT_DAMPING 5	166	#define GYRO_NOISE_MEASUREMENT_DAMPING 5
167		167
168	#define PITCH 0	168	#define PITCH 0
169	#define ROLL 1	169	#define ROLL 1
170	#define YAW 2	170	#define YAW 2
171	#define Z 2	171	#define Z 2
172	/*	172	/*
173	* The values that this module outputs	173	* The values that this module outputs
174	* These first 2 exported arrays are zero-offset. The "PID" ones are used	174	* These first 2 exported arrays are zero-offset. The "PID" ones are used
175	* in the attitude control as rotation rates. The "ATT" ones are for	175	* in the attitude control as rotation rates. The "ATT" ones are for
176	* integration to angles. For the same axis, the PID and ATT variables	176	* integration to angles. For the same axis, the PID and ATT variables
177	* generally have about the same values. There are just some differences	177	* generally have about the same values. There are just some differences
178	* in filtering, and when a gyro becomes near saturated.	178	* in filtering, and when a gyro becomes near saturated.
179	* Maybe this distinction is not really necessary.	179	* Maybe this distinction is not really necessary.
180	*/	180	*/
181	extern volatile int16_t gyro_PID[2];	181	extern volatile int16_t gyro_PID[2];
182	extern volatile int16_t gyro_ATT[2];	182	extern volatile int16_t gyro_ATT[2];
183	extern volatile int16_t gyroD[2];	183	extern volatile int16_t gyroD[2];
184	extern volatile int16_t yawGyro;	184	extern volatile int16_t yawGyro;
185	extern volatile uint16_t ADCycleCount;	185	extern volatile uint16_t ADCycleCount;
186	extern volatile int16_t UBat;	186	extern volatile int16_t UBat;
187		187
188	// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.	188	// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.
189	#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))	189	#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))
-		190
-		191	typedef struct {
-		192	uint8_t checksum;
-		193	uint8_t revisionNumber;
-		194	int16_t offsets[3];
-		195	} sensorOffset_t;
-		196
-		197	extern sensorOffset_t gyroOffset;
-		198	extern sensorOffset_t accOffset;
190		199
191	/*	200	/*
192	* This is not really for external use - but the ENC-03 gyro modules needs it.	201	* This is not really for external use - but the ENC-03 gyro modules needs it.
193	*/	202	*/
194	extern volatile int16_t rawGyroSum[3];	203	extern volatile int16_t rawGyroSum[3];
195		204
196	/*	205	/*
197	* The acceleration values that this module outputs. They are zero based.	206	* The acceleration values that this module outputs. They are zero based.
198	*/	207	*/
199	extern volatile int16_t acc[3];	208	extern volatile int16_t acc[3];
200	extern volatile int16_t filteredAcc[2];	209	extern volatile int16_t filteredAcc[2];
201	// extern volatile int32_t stronglyFilteredAcc[3];	210	// extern volatile int32_t stronglyFilteredAcc[3];
202		211
203	/*	212	/*
204	* Diagnostics: Gyro noise level because of motor vibrations. The variables	213	* Diagnostics: Gyro noise level because of motor vibrations. The variables
205	* only really reflect the noise level when the copter stands still but with	214	* only really reflect the noise level when the copter stands still but with
206	* its motors running.	215	* its motors running.
207	*/	216	*/
208	extern volatile uint16_t gyroNoisePeak[2];	217	extern volatile uint16_t gyroNoisePeak[2];
209	extern volatile uint16_t accNoisePeak[2];	218	extern volatile uint16_t accNoisePeak[2];
210		219
211	/*	220	/*
212	* Air pressure.	221	* Air pressure.
213	* The sensor has a sensitivity of 46 mV/kPa.	222	* The sensor has a sensitivity of 46 mV/kPa.
214	* An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h	223	* An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h
215	* That is: dV = 46 mV * 11.95 * 10^-3 dh = 0.5497 mV / m.	224	* That is: dV = 46 mV * 11.95 * 10^-3 dh = 0.5497 mV / m.
216	* That is, with 2 * 1.024 / 3 steps per mV: 0.037 steps / m	225	* That is, with 2 * 1.024 / 3 steps per mV: 0.037 steps / m
217	*/	226	*/
218	#define AIRPRESSURE_SUMMATION_FACTOR 16	227	#define AIRPRESSURE_SUMMATION_FACTOR 16
219	#define AIRPRESSURE_FILTER 8	228	#define AIRPRESSURE_FILTER 8
220	// Minimum A/D value before a range change is performed.	229	// Minimum A/D value before a range change is performed.
221	#define MIN_RAWPRESSURE (200 * 2)	230	#define MIN_RAWPRESSURE (200 * 2)
222	// Maximum A/D value before a range change is performed.	231	// Maximum A/D value before a range change is performed.
223	#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)	232	#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
224		233
225	#define MIN_RANGES_EXTRAPOLATION 15	234	#define MIN_RANGES_EXTRAPOLATION 15
226	#define MAX_RANGES_EXTRAPOLATION 240	235	#define MAX_RANGES_EXTRAPOLATION 240
227		236
228	#define PRESSURE_EXTRAPOLATION_COEFF 25L	237	#define PRESSURE_EXTRAPOLATION_COEFF 25L
229	#define AUTORANGE_WAIT_FACTOR 1	238	#define AUTORANGE_WAIT_FACTOR 1
230		239
231	extern volatile uint16_t simpleAirPressure;	240	extern volatile uint16_t simpleAirPressure;
232	/*	241	/*
233	* At saturation, the filteredAirPressure may actually be (simulated) negative.	242	* At saturation, the filteredAirPressure may actually be (simulated) negative.
234	*/	243	*/
235	extern volatile int32_t filteredAirPressure;	244	extern volatile int32_t filteredAirPressure;
236		245
237	/*	246	/*
238	* Flag: Interrupt handler has done all A/D conversion and processing.	247	* Flag: Interrupt handler has done all A/D conversion and processing.
239	*/	248	*/
240	extern volatile uint8_t analogDataReady;	249	extern volatile uint8_t analogDataReady;
241		250
242	void analog_init(void);	251	void analog_init(void);
243		252
244	/*	253	/*
245	* Start the conversion cycle. It will stop automatically.	254	* Start the conversion cycle. It will stop automatically.
246	*/	255	*/
247	void startAnalogConversionCycle(void);	256	void startAnalogConversionCycle(void);
248		257
249	/*	258	/*
250	* Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.	259	* Process the sensor data to update the exported variables. Must be called after each measurement cycle and before the data is used.
251	*/	260	*/
252	void analog_update(void);	261	void analog_update(void);
253		262
254	/*	263	/*
255	* "Warm" calibration: Zero-offset gyros.	264	* "Warm" calibration: Zero-offset gyros.
256	*/	265	*/
257	void analog_calibrate(void);	266	void analog_calibrate(void);
258		267
259	/*	268	/*
260	* "Cold" calibration: Zero-offset accelerometers and write the calibration data to EEPROM.	269	* "Cold" calibration: Zero-offset accelerometers and write the calibration data to EEPROM.
261	*/	270	*/
262	void analog_calibrateAcc(void);	271	void analog_calibrateAcc(void);
263	#endif //_ANALOG_H	272	#endif //_ANALOG_H
264		273