WebSVN - FlightCtrl - Diff - Rev 1645 and 1646 - /branches/dongfang_FC


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/************************************************************************/
/* Flight Attitude                                                      */
/************************************************************************/
 
#include <stdlib.h>
#include <avr/io.h>
 
#include "attitude.h"
#include "dongfangMath.h"
 
// where our main data flow comes from.
#include "analog.h"
 
#include "configuration.h"
 
// Some calculations are performed depending on some stick related things.
#include "controlMixer.h"
 
// For Servo_On / Off
// #include "timer2.h"
 
#ifdef USE_MK3MAG
#include "mk3mag.h"
#include "gps.h"
#endif
#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[2], yawRate;
 
// With different (less) filtering
int16_t rate_PID[2];
int16_t differential[2];
 
/*
 * Gyro readings, after performing "axis coupling" - that is, the transfomation
 * of rotation rates from the airframe-local coordinate system to a ground-fixed
 * coordinate system. If axis copling is disabled, the gyro readings will be
 * copied into these directly.
 * These are global for the same pragmatic reason as with the gyro readings.
 * The variables are overwritten at each attitude calculation invocation - the values
 * are not preserved or reused.
 */
int16_t ACRate[2], ACYawRate;
 
/*
 * Gyro integrals. These are the rotation angles of the airframe compared to the
 * horizontal plane, yaw relative to yaw at start.
 */
int32_t angle[2], yawAngle;
 
int readingHeight = 0;
 
// compass course
int16_t compassHeading = -1; // negative angle indicates invalid data.
int16_t compassCourse = -1;
int16_t compassOffCourse = 0;
uint16_t updateCompassCourse = 0;
uint8_t compassCalState = 0;
 
// uint8_t FunnelCourse = 0;
uint16_t badCompassHeading = 500;
int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass
 
#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
#define YAWOVER360       (GYRO_DEG_FACTOR_YAW * 360L)
 
int16_t correctionSum[2] = {0,0};
 
/*
 * Experiment: Compensating for dynamic-induced gyro biasing.
 */
int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 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.
  dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;
 
  dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0;
  correctionSum[PITCH] = correctionSum[ROLL] = 0;
 
  // Calibrate hardware.
  analog_calibrate();
 
  // reset gyro readings
  rate[PITCH] = rate[ROLL] = yawRate = 0;
 
  // reset gyro integrals to acc guessing
  setStaticAttitudeAngles();
  yawAngle = 0;
 
  // update compass course to current heading
  compassCourse = compassHeading;
 
  // Inititialize YawGyroIntegral value with current compass heading
  yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
 
  // 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].
 * When scaled down by CONTROL_SCALING, the interval is about [-256, 256].
 *************************************************************************/
void getAnalogData(void) {
  uint8_t axis;
 
  for (axis=PITCH; axis <=ROLL; axis++) {
    rate_PID[axis]     = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
    rate[axis]         = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
    differential[axis] = gyroD[axis];
  }
 
  yawRate = yawGyro + dynamicOffsetYaw;
 
  // We are done reading variables from the analog module.
  // Interrupt-driven sensor reading may restart.
  analogDataReady = 0;
  analog_start();
}
 
/*
 * This is the standard flight-style coordinate system transformation
 * (from airframe-local axes to a ground-based system). For some reason
 * the MK uses a left-hand coordinate system. The tranformation has been
 * changed accordingly.
 */
void trigAxisCoupling(void) {
  int16_t cospitch = int_cos(angle[PITCH]);
  int16_t cosroll =  int_cos(angle[ROLL]);
  int16_t sinroll =  int_sin(angle[ROLL]);
  int16_t tanpitch = int_tan(angle[PITCH]);
#define ANTIOVF 1024
  ACRate[PITCH] =             ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;
  ACRate[ROLL] = rate[ROLL] + (((int32_t)rate[PITCH] * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(angle[ROLL]) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));
  ACYawRate =                 ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;
}
 
void integrate(void) {
  // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
  uint8_t axis;
 
  if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {
    // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.
    trigAxisCoupling();    
  } else {
    ACRate[PITCH] = rate[PITCH];
    ACRate[ROLL]  = rate[ROLL];
    ACYawRate = yawRate;
  }
 
 
 
 
 
  /*
   * Yaw
   * Calculate yaw gyro integral (~ to rotation angle)
   * Limit yawGyroHeading proportional to 0 deg to 360 deg
   */
  yawGyroHeading += ACYawRate;
 
  // Why is yawAngle not wrapped 'round?
  yawAngle += ACYawRate;
 
  if(yawGyroHeading >= YAWOVER360) {
    yawGyroHeading -= YAWOVER360;  // 360 deg. wrap
  } else if(yawGyroHeading < 0) {
    yawGyroHeading += YAWOVER360;
  }
 
  /*
   * Pitch axis integration and range boundary wrap.
   */
  for (axis=PITCH; axis<=ROLL; axis++) {
    angle[axis] += ACRate[axis];
    if(angle[axis] > PITCHROLLOVER180) {
      angle[axis] -= PITCHROLLOVER360;
    } else if (angle[axis] <= -PITCHROLLOVER180) {
      angle[axis] += PITCHROLLOVER360;
    }
  }
}
 
/************************************************************************
 * 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 correction;
  if(!looping && acc[Z] >= -dynamicParams.UserParams[7] && acc[Z] <= dynamicParams.UserParams[7]) {
    DebugOut.Digital[0] = 1;
   
    uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
    uint8_t debugFullWeight = 1;
    int32_t accDerived;
   
    if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands
      permilleAcc /= 2;
      debugFullWeight = 0;
    }
   
    if(abs(controlYaw) > 25) { // reduce further if yaw stick is active
      permilleAcc /= 2;
      debugFullWeight = 0;
    }
 
    /*
     * 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.
      correction = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
      angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived) / 1000L;
 
      correctionSum[axis] += angle[axis] - correction;
   
      // There should not be a risk of overflow here, since the integrals do not exceed a few 100000.
      // change = ((1000 - permilleAcc) * angle[axis] + permilleAcc * accDerived) / 1000 - angle[axis]
      // = (1000 * angle[axis] - permilleAcc * angle[axis] + permilleAcc * accDerived) / 1000 - angle[axis]
      // = (- permilleAcc * angle[axis] + permilleAcc * accDerived) / 1000
      // = permilleAcc * (accDerived - angle[axis]) / 1000
     
      // Experiment: Do not acutally apply the correction. See if drift compensation does that.
      // angle[axis] += correction / 1000;
    }
       
    DebugOut.Digital[1] = debugFullWeight;
  } else {
    DebugOut.Digital[0] = 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;
  uint8_t axis;
  if (! --timer) {
    timer = DRIFTCORRECTION_TIME;
    for (axis=PITCH; axis<=ROLL; axis++) {
      // Take the sum of corrections applied, add it to delta
      deltaCorrection = ((correctionSum[axis] + DRIFTCORRECTION_TIME / 2) * HIRES_GYRO_INTEGRATION_FACTOR) / DRIFTCORRECTION_TIME;
      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
      dynamicOffset[axis] += deltaCorrection / staticParams.GyroAccTrim;
      CHECK_MIN_MAX(dynamicOffset[axis], -staticParams.DriftComp, staticParams.DriftComp);
      DebugOut.Analog[11 + axis] = correctionSum[axis];
      DebugOut.Analog[28 + axis] = dynamicOffset[axis];
      correctionSum[axis] = 0;
 
    }
  }
}
 
/************************************************************************
 * Main procedure.
 ************************************************************************/
void calculateFlightAttitude(void) {  
  getAnalogData();
  integrate();
 
  DebugOut.Analog[6] = ACRate[PITCH];
  DebugOut.Analog[7] = ACRate[ROLL];
  DebugOut.Analog[8] = ACYawRate;
 
  DebugOut.Analog[3] = rate_PID[PITCH];
  DebugOut.Analog[4] = rate_PID[ROLL];
  DebugOut.Analog[5] = yawRate;
 
#ifdef ATTITUDE_USE_ACC_SENSORS
  correctIntegralsByAcc0thOrder();
  driftCorrection();
#endif
}
 
/*
  void updateCompass(void) {
  int16_t w, v, r,correction, error;
 
  if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {
  setCompassCalState();
  } else {
  // get maximum attitude angle
  w = abs(pitchAngle / 512);
  v = abs(rollAngle / 512);
  if(v > w) w = v;
  correction = w / 8 + 1;
  // calculate the deviation of the yaw gyro heading and the compass heading
  if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
  else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;
  if(abs(yawRate) > 128) { // spinning fast
  error = 0;
  }
  if(!badCompassHeading && w < 25) {
  if(updateCompassCourse) {
  beep(200);
  yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
  compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
  updateCompassCourse = 0;
  }
  }
  yawGyroHeading += (error * 8) / correction;
  w = (w * dynamicParams.CompassYawEffect) / 32;
  w = dynamicParams.CompassYawEffect - w;
  if(w >= 0) {
  if(!badCompassHeading) {
  v = 64 + (maxControlPitch + maxControlRoll) / 8;
  // calc course deviation
  r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
  v = (r * w) / v; // align to compass course
  // limit yaw rate
  w = 3 * dynamicParams.CompassYawEffect;
  if (v > w) v = w;
  else if (v < -w) v = -w;
  yawAngle += v;
  }
  else
  { // wait a while
  badCompassHeading--;
  }
  }
  else {  // ignore compass at extreme attitudes for a while
  badCompassHeading = 500;
  }
  }
  }
*/
 
/*
 * This is part of an experiment to measure average sensor offsets caused by motor vibration,
 * and to compensate them away. It brings about some improvement, but no miracles.
 * As long as the left stick is kept in the start-motors position, the dynamic compensation
 * will measure the effect of vibration, to use for later compensation. So, one should keep
 * the stick in the start-motors position for a few seconds, till all motors run (at the wrong
 * speed unfortunately... must find a better way)
 */
/*
  void attitude_startDynamicCalibration(void) {
  dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
  savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
  }
 
  void attitude_continueDynamicCalibration(void) {
  // measure dynamic offset now...
  dynamicCalPitch += hiResPitchGyro;
  dynamicCalRoll += hiResRollGyro;
  dynamicCalYaw += rawYawGyroSum;
  dynamicCalCount++;
 
  // Param6: Manual mode. The offsets are taken from Param7 and Param8.
  if (dynamicParams.UserParam6 || 1) { // currently always enabled.
  // manual mode
  dynamicOffsetPitch = dynamicParams.UserParam7 - 128;
  dynamicOffsetRoll = dynamicParams.UserParam8 - 128;
  } else {
  // use the sampled value (does not seem to work so well....)
  dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
  dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
  dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;
  }
 
  // keep resetting these meanwhile, to avoid accumulating errors.
  setStaticAttitudeIntegrals();
  yawAngle = 0;
  }
*/
 

Rev 1645	Rev 1646
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.
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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"
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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,
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32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
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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
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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 rate[2], yawRate;	87	int16_t rate[2], yawRate;
88		88
89	// With different (less) filtering	89	// With different (less) filtering
90	int16_t rate_PID[2];	90	int16_t rate_PID[2];
91	int16_t differential[2];	91	int16_t differential[2];
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 ACRate[2], ACYawRate;	102	int16_t ACRate[2], 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 angle[2], yawAngle;	108	int32_t angle[2], 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	#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)	123	#define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
124	#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)	124	#define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
125	#define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L)	125	#define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L)
126		126
127	int32_t correctionSum[2] = {0,0};	127	int16_t correctionSum[2] = {0,0};
128		128
129	/*	129	/*
130	* Experiment: Compensating for dynamic-induced gyro biasing.	130	* Experiment: Compensating for dynamic-induced gyro biasing.
131	*/	131	*/
132	int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 0;	132	int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 0;
133	// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;	133	// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
134	// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;	134	// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
135	// int16_t dynamicCalCount;	135	// int16_t dynamicCalCount;
136		136
137	/************************************************************************	137	/************************************************************************
138	* Set inclination angles from the acc. sensor data.	138	* Set inclination angles from the acc. sensor data.
139	* If acc. sensors are not used, set to zero.	139	* If acc. sensors are not used, set to zero.
140	* TODO: One could use inverse sine to calculate the angles more	140	* TODO: One could use inverse sine to calculate the angles more
141	* accurately, but since: 1) the angles are rather small at times when	141	* accurately, but since: 1) the angles are rather small at times when
142	* it 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
143	* 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,
144	* it is hardly worth the trouble.	144	* it is hardly worth the trouble.
145	************************************************************************/	145	************************************************************************/
146		146
147	int32_t getAngleEstimateFromAcc(uint8_t axis) {	147	int32_t getAngleEstimateFromAcc(uint8_t axis) {
148	return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis];	148	return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis];
149	}	149	}
150		150
151	void setStaticAttitudeAngles(void) {	151	void setStaticAttitudeAngles(void) {
152	#ifdef ATTITUDE_USE_ACC_SENSORS	152	#ifdef ATTITUDE_USE_ACC_SENSORS
153	angle[PITCH] = getAngleEstimateFromAcc(PITCH);	153	angle[PITCH] = getAngleEstimateFromAcc(PITCH);
154	angle[ROLL] = getAngleEstimateFromAcc(ROLL);	154	angle[ROLL] = getAngleEstimateFromAcc(ROLL);
155	#else	155	#else
156	angle[PITCH] = angle[ROLL] = 0;	156	angle[PITCH] = angle[ROLL] = 0;
157	#endif	157	#endif
158	}	158	}
159		159
160	/************************************************************************	160	/************************************************************************
161	* Neutral Readings	161	* Neutral Readings
162	************************************************************************/	162	************************************************************************/
163	void attitude_setNeutral(void) {	163	void attitude_setNeutral(void) {
164	// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.	164	// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
165	dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;	165	dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;
166		166
167	dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0;	167	dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0;
-		168	correctionSum[PITCH] = correctionSum[ROLL] = 0;
168		169
169	// Calibrate hardware.	170	// Calibrate hardware.
170	analog_calibrate();	171	analog_calibrate();
171		172
172	// reset gyro readings	173	// reset gyro readings
173	rate[PITCH] = rate[ROLL] = yawRate = 0;	174	rate[PITCH] = rate[ROLL] = yawRate = 0;
174		175
175	// reset gyro integrals to acc guessing	176	// reset gyro integrals to acc guessing
176	setStaticAttitudeAngles();	177	setStaticAttitudeAngles();
177	yawAngle = 0;	178	yawAngle = 0;
178		179
179	// update compass course to current heading	180	// update compass course to current heading
180	compassCourse = compassHeading;	181	compassCourse = compassHeading;
-		182
181	// Inititialize YawGyroIntegral value with current compass heading	183	// Inititialize YawGyroIntegral value with current compass heading
182	yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;	184	yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
183		185
184	// Servo_On(); //enable servo output	186	// Servo_On(); //enable servo output
185	}	187	}
186		188
187	/************************************************************************	189	/************************************************************************
188	* Get sensor data from the analog module, and release the ADC	190	* Get sensor data from the analog module, and release the ADC
189	* TODO: Ultimately, the analog module could do this (instead of dumping	191	* TODO: Ultimately, the analog module could do this (instead of dumping
190	* the values into variables).	192	* the values into variables).
191	* The rate variable end up in a range of about [-1024, 1023].	193	* The rate variable end up in a range of about [-1024, 1023].
192	* When scaled down by CONTROL_SCALING, the interval is about [-256, 256].	194	* When scaled down by CONTROL_SCALING, the interval is about [-256, 256].
193	*************************************************************************/	195	*************************************************************************/
194	void getAnalogData(void) {	196	void getAnalogData(void) {
195	uint8_t axis;	197	uint8_t axis;
196		198
197	for (axis=PITCH; axis <=ROLL; axis++) {	199	for (axis=PITCH; axis <=ROLL; axis++) {
198	rate_PID[axis] = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;	200	rate_PID[axis] = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
199	rate[axis] = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;	201	rate[axis] = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
200	differential[axis] = gyroD[axis];	202	differential[axis] = gyroD[axis];
201	}	203	}
-		204
202	yawRate = yawGyro + dynamicOffsetYaw;	205	yawRate = yawGyro + dynamicOffsetYaw;
203		206
204	// We are done reading variables from the analog module.	207	// We are done reading variables from the analog module.
205	// Interrupt-driven sensor reading may restart.	208	// Interrupt-driven sensor reading may restart.
206	analogDataReady = 0;	209	analogDataReady = 0;
207	analog_start();	210	analog_start();
208	}	211	}
209		212
210	/*	213	/*
211	* This is the standard flight-style coordinate system transformation	214	* This is the standard flight-style coordinate system transformation
212	* (from airframe-local axes to a ground-based system). For some reason	215	* (from airframe-local axes to a ground-based system). For some reason
213	* the MK uses a left-hand coordinate system. The tranformation has been	216	* the MK uses a left-hand coordinate system. The tranformation has been
214	* changed accordingly.	217	* changed accordingly.
215	*/	218	*/
216	void trigAxisCoupling(void) {	219	void trigAxisCoupling(void) {
217	int16_t cospitch = int_cos(angle[PITCH]);	220	int16_t cospitch = int_cos(angle[PITCH]);
218	int16_t cosroll = int_cos(angle[ROLL]);	221	int16_t cosroll = int_cos(angle[ROLL]);
219	int16_t sinroll = int_sin(angle[ROLL]);	222	int16_t sinroll = int_sin(angle[ROLL]);
220	int16_t tanpitch = int_tan(angle[PITCH]);	223	int16_t tanpitch = int_tan(angle[PITCH]);
221	#define ANTIOVF 1024	224	#define ANTIOVF 1024
222	ACRate[PITCH] = ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;	225	ACRate[PITCH] = ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;
223	ACRate[ROLL] = rate[ROLL] + (((int32_t)rate[PITCH] * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(angle[ROLL]) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));	226	ACRate[ROLL] = rate[ROLL] + (((int32_t)rate[PITCH] * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(angle[ROLL]) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));
224	ACYawRate = ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;	227	ACYawRate = ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;
225	}	228	}
226		229
227	void integrate(void) {	230	void integrate(void) {
228	// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.	231	// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
229	uint8_t axis;	232	uint8_t axis;
230		233
231	if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {	234	if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {
232	// The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.	235	// The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.
233	trigAxisCoupling();	236	trigAxisCoupling();
234	} else {	237	} else {
235	ACRate[PITCH] = rate[PITCH];	238	ACRate[PITCH] = rate[PITCH];
236	ACRate[ROLL] = rate[ROLL];	239	ACRate[ROLL] = rate[ROLL];
237	ACYawRate = yawRate;	240	ACYawRate = yawRate;
238	}	241	}
239		-
240	DebugOut.Analog[3] = ACRate[PITCH];	-
241	DebugOut.Analog[4] = ACRate[ROLL];	-
242	DebugOut.Analog[5] = ACYawRate;	-
243		242
244	/*	243	/*
245	* Yaw	244	* Yaw
246	* Calculate yaw gyro integral (~ to rotation angle)	245	* Calculate yaw gyro integral (~ to rotation angle)
247	* Limit yawGyroHeading proportional to 0 deg to 360 deg	246	* Limit yawGyroHeading proportional to 0 deg to 360 deg
248	*/	247	*/
249	yawGyroHeading += ACYawRate;	248	yawGyroHeading += ACYawRate;
250		249
251	// Why is yawAngle not wrapped 'round?	250	// Why is yawAngle not wrapped 'round?
252	yawAngle += ACYawRate;	251	yawAngle += ACYawRate;
253		252
254	if(yawGyroHeading >= YAWOVER360) {	253	if(yawGyroHeading >= YAWOVER360) {
255	yawGyroHeading -= YAWOVER360; // 360 deg. wrap	254	yawGyroHeading -= YAWOVER360; // 360 deg. wrap
256	} else if(yawGyroHeading < 0) {	255	} else if(yawGyroHeading < 0) {
257	yawGyroHeading += YAWOVER360;	256	yawGyroHeading += YAWOVER360;
258	}	257	}
259		258
260	/*	259	/*
261	* Pitch axis integration and range boundary wrap.	260	* Pitch axis integration and range boundary wrap.
262	*/	261	*/
263	for (axis=PITCH; axis<=ROLL; axis++) {	262	for (axis=PITCH; axis<=ROLL; axis++) {
264	angle[axis] += ACRate[axis];	263	angle[axis] += ACRate[axis];
265	if(angle[axis] > PITCHROLLOVER180) {	264	if(angle[axis] > PITCHROLLOVER180) {
266	angle[axis] -= PITCHROLLOVER360;	265	angle[axis] -= PITCHROLLOVER360;
267	} else if (angle[axis] <= -PITCHROLLOVER180) {	266	} else if (angle[axis] <= -PITCHROLLOVER180) {
268	angle[axis] += PITCHROLLOVER360;	267	angle[axis] += PITCHROLLOVER360;
269	}	268	}
270	}	269	}
271	}	270	}
272		271
273	/************************************************************************	272	/************************************************************************
274	* A kind of 0'th order integral correction, that corrects the integrals	273	* A kind of 0'th order integral correction, that corrects the integrals
275	* directly. This is the "gyroAccFactor" stuff in the original code.	274	* directly. This is the "gyroAccFactor" stuff in the original code.
276	* There is (there) also what I would call a "minus 1st order correction"	275	* There is (there) also a drift compensation
277	* - it corrects the differential of the integral = the gyro offsets.	276	* - it corrects the differential of the integral = the gyro offsets.
278	* That should only be necessary with drifty gyros like ENC-03.	277	* That should only be necessary with drifty gyros like ENC-03.
279	************************************************************************/	278	************************************************************************/
280	void correctIntegralsByAcc0thOrder(void) {	279	void correctIntegralsByAcc0thOrder(void) {
281	// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities	280	// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
282	// are less than ....., or reintroduce Kalman.	281	// are less than ....., or reintroduce Kalman.
283	// Well actually the Z axis acc. check is not so silly.	282	// Well actually the Z axis acc. check is not so silly.
284	uint8_t axis;	283	uint8_t axis;
285	if(!looping && //((ZAcc >= -4) \|\| (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction	284	int32_t correction;
286	ZAcc >= -dynamicParams.UserParams[7] && ZAcc <= dynamicParams.UserParams[7]) {	285	if(!looping && acc[Z] >= -dynamicParams.UserParams[7] && acc[Z] <= dynamicParams.UserParams[7]) {
287	DebugOut.Digital[0] = 1;	286	DebugOut.Digital[0] = 1;
288		287
289	uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!	288	uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
290	uint8_t debugFullWeight = 1;	289	uint8_t debugFullWeight = 1;
291	int32_t accDerived[2];	290	int32_t accDerived;
292		291
293	if((maxControl[PITCH] > 64) \|\| (maxControl[ROLL] > 64)) { // reduce effect during stick commands	292	if((maxControl[PITCH] > 64) \|\| (maxControl[ROLL] > 64)) { // reduce effect during stick commands
294	permilleAcc /= 2;	293	permilleAcc /= 2;
295	debugFullWeight = 0;	294	debugFullWeight = 0;
296	}	295	}
297		296
298	if(abs(controlYaw) > 25) { // reduce further if yaw stick is active	297	if(abs(controlYaw) > 25) { // reduce further if yaw stick is active
299	permilleAcc /= 2;	298	permilleAcc /= 2;
300	debugFullWeight = 0;	299	debugFullWeight = 0;
301	}	300	}
302		301
303	/*	302	/*
304	* Add to each sum: The amount by which the angle is changed just below.	303	* Add to each sum: The amount by which the angle is changed just below.
305	*/	304	*/
306	for (axis=PITCH; axis<=ROLL; axis++) {	305	for (axis=PITCH; axis<=ROLL; axis++) {
307	accDerived[axis] = getAngleEstimateFromAcc(axis);	306	accDerived = getAngleEstimateFromAcc(axis);
-		307	DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
-		308
-		309	// 1000 * the correction amount that will be added to the gyro angle in next line.
308	correctionSum[axis] += permilleAcc * (accDerived[axis] - angle[axis]);	310	correction = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
-		311	angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived) / 1000L;
-		312
-		313	correctionSum[axis] += angle[axis] - correction;
309		314
310	// There should not be a risk of overflow here, since the integrals do not exceed a few 100000.	315	// There should not be a risk of overflow here, since the integrals do not exceed a few 100000.
-		316	// change = ((1000 - permilleAcc) * angle[axis] + permilleAcc * accDerived) / 1000 - angle[axis]
-		317	// = (1000 * angle[axis] - permilleAcc * angle[axis] + permilleAcc * accDerived) / 1000 - angle[axis]
-		318	// = (- permilleAcc * angle[axis] + permilleAcc * accDerived) / 1000
-		319	// = permilleAcc * (accDerived - angle[axis]) / 1000
-		320
-		321	// Experiment: Do not acutally apply the correction. See if drift compensation does that.
311	angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived[axis]) / 1000L;	322	// angle[axis] += correction / 1000;
312	}	323	}
313		324
314	DebugOut.Digital[1] = debugFullWeight;	325	DebugOut.Digital[1] = debugFullWeight;
315	} else {	326	} else {
316	DebugOut.Digital[0] = 0;	327	DebugOut.Digital[0] = 0;
317	}	328	}
318	}	329	}
319		330
320	/************************************************************************	331	/************************************************************************
321	* This is an attempt to correct not the error in the angle integrals	332	* This is an attempt to correct not the error in the angle integrals
322	* (that happens in correctIntegralsByAcc0thOrder above) but rather the	333	* (that happens in correctIntegralsByAcc0thOrder above) but rather the
323	* cause of it: Gyro drift, vibration and rounding errors.	334	* cause of it: Gyro drift, vibration and rounding errors.
324	* All the corrections made in correctIntegralsByAcc0thOrder over	335	* All the corrections made in correctIntegralsByAcc0thOrder over
325	* MINUSFIRSTORDERCORRECTION_TIME cycles are summed up. This number is	336	* DRIFTCORRECTION_TIME cycles are summed up. This number is
326	* then divided by MINUSFIRSTORDERCORRECTION_TIME to get the approx.	337	* then divided by DRIFTCORRECTION_TIME to get the approx.
327	* correction that should have been applied to each iteration to fix	338	* correction that should have been applied to each iteration to fix
328	* the error. This is then added to the dynamic offsets.	339	* the error. This is then added to the dynamic offsets.
329	************************************************************************/	340	************************************************************************/
330	// 2 times / sec.	341	// 2 times / sec. = 488/2
331	#define DRIFTCORRECTION_TIME 488/2	342	#define DRIFTCORRECTION_TIME 256L
332	void driftCompensation(void) {	343	void driftCorrection(void) {
333	static int16_t timer = DRIFTCORRECTION_TIME;	344	static int16_t timer = DRIFTCORRECTION_TIME;
334	int16_t deltaCompensation;	345	int16_t deltaCorrection;
335	uint8_t axis;	346	uint8_t axis;
336	if (! --timer) {	347	if (! --timer) {
337	timer = DRIFTCORRECTION_TIME;	348	timer = DRIFTCORRECTION_TIME;
338	for (axis=PITCH; axis<=ROLL; axis++) {	349	for (axis=PITCH; axis<=ROLL; axis++) {
-		350	// Take the sum of corrections applied, add it to delta
339	deltaCompensation = ((correctionSum[axis] + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME);	351	deltaCorrection = ((correctionSum[axis] + DRIFTCORRECTION_TIME / 2) * HIRES_GYRO_INTEGRATION_FACTOR) / DRIFTCORRECTION_TIME;
340	CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp);	352	// Add the delta to the compensation. So positive delta means, gyro should have higher value.
341	dynamicOffset[axis] += deltaCompensation / staticParams.GyroAccTrim;	353	dynamicOffset[axis] += deltaCorrection / staticParams.GyroAccTrim;
-		354	CHECK_MIN_MAX(dynamicOffset[axis], -staticParams.DriftComp, staticParams.DriftComp);
-		355	DebugOut.Analog[11 + axis] = correctionSum[axis];
-		356	DebugOut.Analog[28 + axis] = dynamicOffset[axis];
342	correctionSum[axis] = 0;	357	correctionSum[axis] = 0;
343	DebugOut.Analog[28 + axis] = dynamicOffset;	-
344	}	358	}
345	}	359	}
346	}	360	}
347		361
348	/************************************************************************	362	/************************************************************************
349	* Main procedure.	363	* Main procedure.
350	************************************************************************/	364	************************************************************************/
351	void calculateFlightAttitude(void) {	365	void calculateFlightAttitude(void) {
352	getAnalogData();	366	getAnalogData();
353	integrate();	367	integrate();
-		368
-		369	DebugOut.Analog[6] = ACRate[PITCH];
-		370	DebugOut.Analog[7] = ACRate[ROLL];
-		371	DebugOut.Analog[8] = ACYawRate;
-		372
-		373	DebugOut.Analog[3] = rate_PID[PITCH];
-		374	DebugOut.Analog[4] = rate_PID[ROLL];
-		375	DebugOut.Analog[5] = yawRate;
-		376
354	#ifdef ATTITUDE_USE_ACC_SENSORS	377	#ifdef ATTITUDE_USE_ACC_SENSORS
355	correctIntegralsByAcc0thOrder();	378	correctIntegralsByAcc0thOrder();
356	driftCompensation();	379	driftCorrection();
357	#endif	380	#endif
358	}	381	}
359		382
360	/*	383	/*
361	void updateCompass(void) {	384	void updateCompass(void) {
362	int16_t w, v, r,correction, error;	385	int16_t w, v, r,correction, error;
363		386
364	if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {	387	if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {
365	setCompassCalState();	388	setCompassCalState();
366	} else {	389	} else {
367	// get maximum attitude angle	390	// get maximum attitude angle
368	w = abs(pitchAngle / 512);	391	w = abs(pitchAngle / 512);
369	v = abs(rollAngle / 512);	392	v = abs(rollAngle / 512);
370	if(v > w) w = v;	393	if(v > w) w = v;
371	correction = w / 8 + 1;	394	correction = w / 8 + 1;
372	// calculate the deviation of the yaw gyro heading and the compass heading	395	// calculate the deviation of the yaw gyro heading and the compass heading
373	if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined	396	if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
374	else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;	397	else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;
375	if(abs(yawRate) > 128) { // spinning fast	398	if(abs(yawRate) > 128) { // spinning fast
376	error = 0;	399	error = 0;
377	}	400	}
378	if(!badCompassHeading && w < 25) {	401	if(!badCompassHeading && w < 25) {
379	if(updateCompassCourse) {	402	if(updateCompassCourse) {
380	beep(200);	403	beep(200);
381	yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;	404	yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
382	compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);	405	compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
383	updateCompassCourse = 0;	406	updateCompassCourse = 0;
384	}	407	}
385	}	408	}
386	yawGyroHeading += (error * 8) / correction;	409	yawGyroHeading += (error * 8) / correction;
387	w = (w * dynamicParams.CompassYawEffect) / 32;	410	w = (w * dynamicParams.CompassYawEffect) / 32;
388	w = dynamicParams.CompassYawEffect - w;	411	w = dynamicParams.CompassYawEffect - w;
389	if(w >= 0) {	412	if(w >= 0) {
390	if(!badCompassHeading) {	413	if(!badCompassHeading) {
391	v = 64 + (maxControlPitch + maxControlRoll) / 8;	414	v = 64 + (maxControlPitch + maxControlRoll) / 8;
392	// calc course deviation	415	// calc course deviation
393	r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;	416	r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
394	v = (r * w) / v; // align to compass course	417	v = (r * w) / v; // align to compass course
395	// limit yaw rate	418	// limit yaw rate
396	w = 3 * dynamicParams.CompassYawEffect;	419	w = 3 * dynamicParams.CompassYawEffect;
397	if (v > w) v = w;	420	if (v > w) v = w;
398	else if (v < -w) v = -w;	421	else if (v < -w) v = -w;
399	yawAngle += v;	422	yawAngle += v;
400	}	423	}
401	else	424	else
402	{ // wait a while	425	{ // wait a while
403	badCompassHeading--;	426	badCompassHeading--;
404	}	427	}
405	}	428	}
406	else { // ignore compass at extreme attitudes for a while	429	else { // ignore compass at extreme attitudes for a while
407	badCompassHeading = 500;	430	badCompassHeading = 500;
408	}	431	}
409	}	432	}
410	}	433	}
411	*/	434	*/
412		435
413	/*	436	/*
414	* This is part of an experiment to measure average sensor offsets caused by motor vibration,	437	* This is part of an experiment to measure average sensor offsets caused by motor vibration,
415	* and to compensate them away. It brings about some improvement, but no miracles.	438	* and to compensate them away. It brings about some improvement, but no miracles.
416	* As long as the left stick is kept in the start-motors position, the dynamic compensation	439	* As long as the left stick is kept in the start-motors position, the dynamic compensation
417	* will measure the effect of vibration, to use for later compensation. So, one should keep	440	* will measure the effect of vibration, to use for later compensation. So, one should keep
418	* the stick in the start-motors position for a few seconds, till all motors run (at the wrong	441	* the stick in the start-motors position for a few seconds, till all motors run (at the wrong
419	* speed unfortunately... must find a better way)	442	* speed unfortunately... must find a better way)
420	*/	443	*/
421	/*	444	/*
422	void attitude_startDynamicCalibration(void) {	445	void attitude_startDynamicCalibration(void) {
423	dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;	446	dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
424	savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;	447	savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
425	}	448	}
426		449
427	void attitude_continueDynamicCalibration(void) {	450	void attitude_continueDynamicCalibration(void) {
428	// measure dynamic offset now...	451	// measure dynamic offset now...
429	dynamicCalPitch += hiResPitchGyro;	452	dynamicCalPitch += hiResPitchGyro;
430	dynamicCalRoll += hiResRollGyro;	453	dynamicCalRoll += hiResRollGyro;
431	dynamicCalYaw += rawYawGyroSum;	454	dynamicCalYaw += rawYawGyroSum;
432	dynamicCalCount++;	455	dynamicCalCount++;
433		456
434	// Param6: Manual mode. The offsets are taken from Param7 and Param8.	457	// Param6: Manual mode. The offsets are taken from Param7 and Param8.
435	if (dynamicParams.UserParam6 \|\| 1) { // currently always enabled.	458	if (dynamicParams.UserParam6 \|\| 1) { // currently always enabled.
436	// manual mode	459	// manual mode
437	dynamicOffsetPitch = dynamicParams.UserParam7 - 128;	460	dynamicOffsetPitch = dynamicParams.UserParam7 - 128;
438	dynamicOffsetRoll = dynamicParams.UserParam8 - 128;	461	dynamicOffsetRoll = dynamicParams.UserParam8 - 128;
439	} else {	462	} else {
440	// use the sampled value (does not seem to work so well....)	463	// use the sampled value (does not seem to work so well....)
441	dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;	464	dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
442	dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;	465	dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
443	dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;	466	dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;
444	}	467	}
445		468
446	// keep resetting these meanwhile, to avoid accumulating errors.	469	// keep resetting these meanwhile, to avoid accumulating errors.
447	setStaticAttitudeIntegrals();	470	setStaticAttitudeIntegrals();
448	yawAngle = 0;	471	yawAngle = 0;
449	}	472	}
450	*/	473	*/
451		474

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/attitude.c - Rev 1645 → 1646