WebSVN - FlightCtrl - Diff - Rev 2035 and 2049 - /branches/dongfang_FC

 #ifndef _ANALOG_H
 #define _ANALOG_H
 #include <inttypes.h>
 #include "configuration.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
-// #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.
  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
+ sampled more than once (oversampled), and the results added.
- 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),
+ roll. The factor 2 or 4 or whatever is called GYRO_FACTOR_PITCHROLL here.
- where V is 2 for FC1.0 and 4 for all others.
+*/
- Assuming constant ADCValue, in the H&I code:
+#define GYRO_FACTOR_PITCHROLL 1
- gyro = I * ADCValue.
- where I is 8 for FC1.0 and 16 for all others.
+/*
- The relation between rotation rate and ADCValue:
+ GYRO_HW_FACTOR is the relation between rotation rate and ADCValue:
  ADCValue [units] =
  rotational speed [deg/s] *
  gyro sensitivity [V / deg/s] *
  amplifier gain [units] *
 [units] /
 V 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_HW_FACTOR is:
  gyro sensitivity [V / deg/s] *
  amplifier gain [units] *
 [units] /
 V 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).
+ GYRO_HW_FACTOR = 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).
+ GYRO_HW_FACTOR = 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)
+ GYRO_HW_FACTOR = 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)].
+ GYRO_HW_FACTOR is given in the makefile.
- */
+*/
-/*
- * 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,
+ * How many samples are added 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_OVERSAMPLING_PITCHROLL 4
 #define GYRO_OVERSAMPLING_YAW 2
 #define ACC_OVERSAMPLING_XY 2
 #define ACC_OVERSAMPLING_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
-degree flip-over detection limits) are corrected to it. Because the
- division by the constant takes place in the flight attitude code, the
+ * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate.
- constant is there.
- The control loop executes at 488Hz, 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*488.
- For one degree of rotation: t*v = 1:
- gyroIntegralXXXX = t * 488 * 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=4, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=1 --> integralDegreeFactor = 2545
- FC2.0: I=4, H=1.2288, HIRES_GYRO_INTEGRATION_FACTOR=1 --> integralDegreeFactor = 2399
- My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1333
  */
+#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)
+#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_YAW)
 /*
  * 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_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)
-#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_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_OVERSAMPLING_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 int16_t gyro_PID[2];
 extern int16_t gyro_ATT[2];
 extern int16_t gyroD[2];
 extern int16_t yawGyro;
 extern volatile uint16_t ADCycleCount;
 extern 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))
 extern sensorOffset_t gyroOffset;
 extern sensorOffset_t accOffset;
 extern sensorOffset_t gyroAmplifierOffset;
 /*
  * 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 int16_t acc[3];
 extern int16_t filteredAcc[3];
 // 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 uint16_t gyroNoisePeak[3];
 extern uint16_t accNoisePeak[3];
 /*
  * Air pressure.
  * The sensor has a sensitivity of 45 mV/kPa.
  * An approximate p(h) formula is = p(h[m])[kPa] = p_0 - 11.95 * 10^-3 * h
  * p(h[m])[kPa] = 101.3 - 11.95 * 10^-3 * h
  * 11.95 * 10^-3 * h = 101.3 - p[kPa]
  * h = (101.3 - p[kPa])/0.01195
  * That is: dV = -45 mV * 11.95 * 10^-3 dh = -0.53775 mV / m.
  * That is, with 38.02 * 1.024 / 3 steps per mV: -7 steps / m
 Display pressures
 mV-->1084.7
 mV-->1602.4   517.7
 mV-->3107.8  1503.4
 mV-->1419.1
 mV-->208.1
 Diff.:   1211.0
 Calculated  Vout = 5V(.009P-0.095) --> 5V .009P = Vout + 5V 0.095 --> P = (Vout + 5V 0.095)/(5V 0.009)
 mV = 5V(0.009P-0.095)  P = 103.11 kPa  h = -151.4m
 mV = 5V(0.009P-0.095)  P = 101.44 kPa  h = -11.7m   139.7m
 mV = 5V(0.009P-0.095)  P = 96.7   kPa  h = 385m     396.7m
 mV = 5V(0.009P-0.095)  P = 103.11 kPa  h = -151.4m
 mV = 5V(0.009P-0.095)  P = 88.4   kPa  h = 384m  Diff: 1079.5m
 Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V
 This is OCR2 = 143.15 at 1.5V in --> simple pressure =
 */
 #define AIRPRESSURE_OVERSAMPLING 14
 #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
 #define ABS_ALTITUDE_OFFSET 108205
 extern uint16_t simpleAirPressure;
 /*
  * At saturation, the filteredAirPressure may actually be (simulated) negative.
  */
 extern int32_t filteredAirPressure;
 /*
  * Flag: Interrupt handler has done all A/D conversion and processing.
  */
 extern volatile uint8_t analogDataReady;
 void analog_init(void);
 /*
  * This is really only for use for the ENC-03 code module, which needs to get the raw value
  * for its calibration. The raw value should not be used for anything else.
  */
 uint16_t rawGyroValue(uint8_t axis);
 /*
  * 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);
 /*
  * Read gyro and acc.meter calibration from EEPROM.
  */
 void analog_setNeutral(void);
 /*
  * Zero-offset gyros and write the calibration data to EEPROM.
  */
 void analog_calibrateGyros(void);
 /*
  * Zero-offset accelerometers and write the calibration data to EEPROM.
  */
 void analog_calibrateAcc(void);
 void analog_setGround(void);
 int32_t analog_getHeight(void);
 int16_t analog_getDHeight(void);
 #endif //_ANALOG_H

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(root)/branches/dongfang_FC_rewrite/analog.h - Rev 2035 → 2049