WebSVN - FlightCtrl - Diff - Rev 1646 and 1775 - /branches/dongfang_FC

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 /************************************************************************/
 /* Flight Attitude                                                      */
 /************************************************************************/
 #include <stdlib.h>
 #include <avr/io.h>
 #include "attitude.h"
 #include "dongfangMath.h"
+// For scope debugging only!
+#include "rc.h"
 // where our main data flow comes from.
 #include "analog.h"
 #include "configuration.h"
+#include "output.h"
 // Some calculations are performed depending on some stick related things.
 #include "controlMixer.h"
 // For Servo_On / Off
 // #include "timer2.h"
 #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;
+int16_t rate_ATT[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;
+int32_t angle[2], yawAngleDiff;
 int readingHeight = 0;
 // compass course
-int16_t compassHeading = -1; // negative angle indicates invalid data.
+int16_t compassHeading       = -1; // negative angle indicates invalid data.
-int16_t compassCourse = -1;
+int16_t compassCourse        = -1;
-int16_t compassOffCourse = 0;
+int16_t compassOffCourse     = 0;
 uint16_t updateCompassCourse = 0;
-uint8_t compassCalState = 0;
+uint8_t compassCalState      = 0;
-// uint8_t FunnelCourse = 0;
 uint16_t badCompassHeading = 500;
 int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass
+int16_t yawGyroDrift;
 #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};
+// For NaviCTRL use.
+int16_t averageAcc[2] = {0,0}, averageAccCount = 0;
 /*
  * Experiment: Compensating for dynamic-induced gyro biasing.
  */
-int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 0;
+int16_t driftComp[2] = {0,0}, driftCompYaw = 0;
 // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
 // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
 // int16_t dynamicCalCount;
 /************************************************************************
  * Set inclination angles from the acc. sensor data.
  * If acc. sensors are not used, set to zero.
  * TODO: One could use inverse sine to calculate the angles more
  * accurately, but since: 1) the angles are rather small at times when
  * it makes sense to set the integrals (standing on ground, or flying at
  * constant speed, and 2) at small angles a, sin(a) ~= constant * a,
  * it is hardly worth the trouble.
  ************************************************************************/
 int32_t getAngleEstimateFromAcc(uint8_t axis) {
   return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis];
+}
 void setStaticAttitudeAngles(void) {
 #ifdef ATTITUDE_USE_ACC_SENSORS
   angle[PITCH] = getAngleEstimateFromAcc(PITCH);
   angle[ROLL] = getAngleEstimateFromAcc(ROLL);
 #else
   angle[PITCH] = angle[ROLL] = 0;
 #endif
+}
 /************************************************************************
  * Neutral Readings
  ************************************************************************/
 void attitude_setNeutral(void) {
   // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
   dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;
-  dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0;
+  driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;
   correctionSum[PITCH] = correctionSum[ROLL] = 0;
   // Calibrate hardware.
   analog_calibrate();
   // reset gyro readings
-  rate[PITCH] = rate[ROLL] = yawRate = 0;
+  // rate_ATT[PITCH] = rate_ATT[ROLL] = yawRate = 0;
   // reset gyro integrals to acc guessing
   setStaticAttitudeAngles();
-  yawAngle = 0;
+  yawAngleDiff = 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_PID[axis]     = (gyro_PID[axis] + driftComp[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
-    rate[axis]         = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
+    rate_ATT[axis]     = (gyro_ATT[axis] + driftComp[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
     differential[axis] = gyroD[axis];
+    averageAcc[axis]  += acc[axis];
+  }
+  averageAccCount++;
-  yawRate = yawGyro + dynamicOffsetYaw;
+  yawRate = yawGyro + driftCompYaw;
   // 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
+#define ANTIOVF 512
-  ACRate[PITCH] =             ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;
+  ACRate[PITCH] =                 ((int32_t) rate_ATT[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));
+  ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t)rate_ATT[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;
+  ACYawRate =                     ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;
+}
 // 480 usec with axis coupling - almost no time without.
 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[PITCH] = rate_ATT[PITCH];
-    ACRate[ROLL]  = rate[ROLL];
+    ACRate[ROLL]  = rate_ATT[ROLL];
-    ACYawRate = yawRate;
+    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;
+  yawAngleDiff += yawRate;
   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;
+    DebugOut.Digital[0] |= DEBUG_ACC0THORDER;
     uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
     uint8_t debugFullWeight = 1;
     int32_t accDerived;
-    if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands
+    if((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active
       permilleAcc /= 2;
       debugFullWeight = 0;
+    }
-    if(abs(controlYaw) > 25) { // reduce further if yaw stick is active
+    if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands
       permilleAcc /= 2;
       debugFullWeight = 0;
+    }
+    if (debugFullWeight)
+      DebugOut.Digital[1] |= DEBUG_ACC0THORDER;
+    else
+      DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
     /*
      * Add to each sum: The amount by which the angle is changed just below.
      */
     for (axis=PITCH; axis<=ROLL; axis++) {
       accDerived = getAngleEstimateFromAcc(axis);
       DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;
       // 1000 * the correction amount that will be added to the gyro angle in next line.
       correction = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;
-      angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived) / 1000L;
+      angle[axis] = ((int32_t)(1000L - 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.Analog[16+axis] = angle[axis] - correction;
+    }
-    DebugOut.Digital[1] = debugFullWeight;
   } else {
+    DebugOut.Digital[0] &= ~DEBUG_ACC0THORDER;
+    DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;
+    DebugOut.Analog[9] = 0;
-    DebugOut.Digital[0] = 0;
+    DebugOut.Analog[10] = 0;
+    DebugOut.Analog[16] = 0;
+    DebugOut.Analog[17] = 0;
+    // experiment: Kill drift compensation updates when not flying smooth.
+    correctionSum[PITCH] = correctionSum[ROLL] = 0;
+  }
+}
 /************************************************************************
  * This is an attempt to correct not the error in the angle integrals
  * (that happens in correctIntegralsByAcc0thOrder above) but rather the
  * cause of it: Gyro drift, vibration and rounding errors.
  * All the corrections made in correctIntegralsByAcc0thOrder over
  * DRIFTCORRECTION_TIME cycles are summed up. This number is
  * then divided by DRIFTCORRECTION_TIME to get the approx.
  * correction that should have been applied to each iteration to fix
  * the error. This is then added to the dynamic offsets.
  ************************************************************************/
 // 2 times / sec. = 488/2
 #define DRIFTCORRECTION_TIME 256L
 void driftCorrection(void) {
   static int16_t timer = DRIFTCORRECTION_TIME;
   int16_t deltaCorrection;
   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;
+      deltaCorrection = (correctionSum[axis] * HIRES_GYRO_INTEGRATION_FACTOR + DRIFTCORRECTION_TIME / 2) / DRIFTCORRECTION_TIME;
       // Add the delta to the compensation. So positive delta means, gyro should have higher value.
-      dynamicOffset[axis] += deltaCorrection / staticParams.GyroAccTrim;
+      driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;
-      CHECK_MIN_MAX(dynamicOffset[axis], -staticParams.DriftComp, staticParams.DriftComp);
+      CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);
-      DebugOut.Analog[11 + axis] = correctionSum[axis];
+      // DebugOut.Analog[11 + axis] = correctionSum[axis];
+      DebugOut.Analog[18+axis] = deltaCorrection / staticParams.GyroAccTrim;
-      DebugOut.Analog[28 + axis] = dynamicOffset[axis];
+      DebugOut.Analog[28+axis] = driftComp[axis];
       correctionSum[axis] = 0;
+    }
+  }
+}
 /************************************************************************
  * Main procedure.
  ************************************************************************/
 void calculateFlightAttitude(void) {
+  // part1: 550 usec.
+  // part1a: 550 usec.
+  // part1b: 60 usec.
   getAnalogData();
+  // end part1b
   integrate();
+  // end part1a
   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
+  // end part1
+}
-/*
-  void updateCompass(void) {
+void updateCompass(void) {
   int16_t w, v, r,correction, error;
   if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {
+    if (controlMixer_testCompassCalState()) {
-  setCompassCalState();
+      compassCalState++;
+      if(compassCalState < 5) beepNumber(compassCalState);
+      else beep(1000);
+    }
   } else {
-  // get maximum attitude angle
+    // get maximum attitude angle
-  w = abs(pitchAngle / 512);
+    w = abs(angle[PITCH] / 512);
-  v = abs(rollAngle / 512);
+    v = abs(angle[ROLL]  / 512);
-  if(v > w) w = v;
+    if(v > w) w = v;
-  correction = w / 8 + 1;
+    correction = w / 8 + 1;
-  // calculate the deviation of the yaw gyro heading and the compass heading
+    // 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
+    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;
+    else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;
-  if(abs(yawRate) > 128) { // spinning fast
+    if(abs(yawRate) > 128) { // spinning fast
-  error = 0;
+      error = 0;
-  }
+    }
-  if(!badCompassHeading && w < 25) {
+    if(!badCompassHeading && w < 25) {
+      yawGyroDrift += error;
-  if(updateCompassCourse) {
+      if(updateCompassCourse) {
-  beep(200);
+        beep(200);
-  yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
+        yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
-  compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
+        compassCourse = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
-  updateCompassCourse = 0;
+        updateCompassCourse = 0;
-  }
+      }
-  }
+    }
-  yawGyroHeading += (error * 8) / correction;
+    yawGyroHeading += (error * 8) / correction;
-  w = (w * dynamicParams.CompassYawEffect) / 32;
+    w = (w * dynamicParams.CompassYawEffect) / 32;
-  w = dynamicParams.CompassYawEffect - w;
+    w = dynamicParams.CompassYawEffect - w;
-  if(w >= 0) {
+    if(w >= 0) {
-  if(!badCompassHeading) {
+      if(!badCompassHeading) {
-  v = 64 + (maxControlPitch + maxControlRoll) / 8;
+        v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;
-  // calc course deviation
+        // calc course deviation
-  r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
+        r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
-  v = (r * w) / v; // align to compass course
+        v = (r * w) / v; // align to compass course
-  // limit yaw rate
+        // limit yaw rate
-  w = 3 * dynamicParams.CompassYawEffect;
+        w = 3 * dynamicParams.CompassYawEffect;
-  if (v > w) v = w;
+        if (v > w) v = w;
-  else if (v < -w) v = -w;
+        else if (v < -w) v = -w;
-  yawAngle += v;
+        yawAngleDiff += v;
-  }
+      }
-  else
+      else
-  { // wait a while
+        { // wait a while
-  badCompassHeading--;
+          badCompassHeading--;
-  }
-  }
+        }
-  else {  // ignore compass at extreme attitudes for a while
+    } else {  // ignore compass at extreme attitudes for a while
-  badCompassHeading = 500;
+      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;
+  driftCompPitch = dynamicParams.UserParam7 - 128;
-  dynamicOffsetRoll = dynamicParams.UserParam8 - 128;
+  driftCompRoll = dynamicParams.UserParam8 - 128;
   } else {
   // use the sampled value (does not seem to work so well....)
-  dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
+  driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
-  dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
+  driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
-  dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;
+  driftCompYaw = -dynamicCalYaw / dynamicCalCount;
+  }
   // keep resetting these meanwhile, to avoid accumulating errors.
   setStaticAttitudeIntegrals();
   yawAngle = 0;
+  }
 */

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/attitude.c - Rev 1646 → 1775