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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. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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 |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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 pitchRate, rollRate, yawRate; |
87 | int16_t rate[2], yawRate; |
88 | 88 | ||
89 | // With different (less) filtering |
89 | // With different (less) filtering |
90 | int16_t pitchRate_PID, rollRate_PID; |
90 | int16_t rate_PID[2]; |
91 | int16_t pitchDifferential, rollDifferential; |
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 ACPitchRate, ACRollRate, 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 pitchAngle, rollAngle, 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 pitchCorrectionSum = 0, rollCorrectionSum = 0; |
127 | int32_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 dynamicOffsetPitch = 0, dynamicOffsetRoll = 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 | - | ||
147 | int32_t getPitchAngleEstimateFromAcc(void) { |
- | |
148 | return GYRO_ACC_FACTOR * (int32_t)filteredPitchAxisAcc; |
- | |
149 | } |
- | |
150 | 146 | ||
151 | int32_t getRollAngleEstimateFromAcc(void) { |
147 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
152 | return GYRO_ACC_FACTOR * (int32_t)filteredRollAxisAcc; |
148 | return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis]; |
153 | } |
149 | } |
154 | 150 | ||
155 | void setStaticAttitudeAngles(void) { |
151 | void setStaticAttitudeAngles(void) { |
156 | #ifdef ATTITUDE_USE_ACC_SENSORS |
152 | #ifdef ATTITUDE_USE_ACC_SENSORS |
157 | pitchAngle = getPitchAngleEstimateFromAcc(); |
153 | angle[PITCH] = getAngleEstimateFromAcc(PITCH); |
158 | rollAngle = getRollAngleEstimateFromAcc(); |
154 | angle[ROLL] = getAngleEstimateFromAcc(ROLL); |
159 | #else |
155 | #else |
160 | pitchAngle = 0; |
- | |
161 | rollAngle = 0; |
156 | angle[PITCH] = angle[ROLL] = 0; |
162 | #endif |
157 | #endif |
163 | } |
158 | } |
164 | 159 | ||
165 | /************************************************************************ |
160 | /************************************************************************ |
166 | * Neutral Readings |
161 | * Neutral Readings |
167 | ************************************************************************/ |
162 | ************************************************************************/ |
168 | void attitude_setNeutral(void) { |
163 | void attitude_setNeutral(void) { |
169 | // 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. |
170 | dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0; |
165 | dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0; |
171 | 166 | ||
172 | dynamicOffsetPitch = dynamicOffsetRoll = 0; |
167 | dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0; |
173 | 168 | ||
174 | // Calibrate hardware. |
169 | // Calibrate hardware. |
175 | analog_calibrate(); |
170 | analog_calibrate(); |
176 | 171 | ||
177 | // reset gyro readings |
172 | // reset gyro readings |
178 | pitchRate = rollRate = yawRate = 0; |
173 | rate[PITCH] = rate[ROLL] = yawRate = 0; |
179 | 174 | ||
180 | // reset gyro integrals to acc guessing |
175 | // reset gyro integrals to acc guessing |
181 | setStaticAttitudeAngles(); |
176 | setStaticAttitudeAngles(); |
182 | yawAngle = 0; |
177 | yawAngle = 0; |
183 | 178 | ||
184 | // update compass course to current heading |
179 | // update compass course to current heading |
185 | compassCourse = compassHeading; |
180 | compassCourse = compassHeading; |
186 | // Inititialize YawGyroIntegral value with current compass heading |
181 | // Inititialize YawGyroIntegral value with current compass heading |
187 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
182 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
188 | 183 | ||
189 | // Servo_On(); //enable servo output |
184 | // Servo_On(); //enable servo output |
190 | } |
185 | } |
191 | 186 | ||
192 | /************************************************************************ |
187 | /************************************************************************ |
193 | * Get sensor data from the analog module, and release the ADC |
188 | * Get sensor data from the analog module, and release the ADC |
194 | * TODO: Ultimately, the analog module could do this (instead of dumping |
189 | * TODO: Ultimately, the analog module could do this (instead of dumping |
195 | * the values into variables). |
190 | * the values into variables). |
- | 191 | * 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]. |
|
196 | *************************************************************************/ |
193 | *************************************************************************/ |
197 | void getAnalogData(void) { |
194 | void getAnalogData(void) { |
198 | // For the differential calculation. Diff. is not supported right now. |
- | |
199 | // int16_t d2Pitch, d2Roll; |
195 | uint8_t axis; |
200 | pitchRate_PID = (hiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
- | |
201 | pitchRate = (filteredHiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR; |
- | |
202 | pitchDifferential = pitchGyroD; |
- | |
203 | 196 | ||
- | 197 | for (axis=PITCH; axis <=ROLL; axis++) { |
|
204 | rollRate_PID = (hiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
198 | rate_PID[axis] = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR; |
205 | rollRate = (filteredHiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR; |
199 | rate[axis] = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR; |
206 | rollDifferential = rollGyroD; |
200 | differential[axis] = gyroD[axis]; |
207 | 201 | } |
|
208 | yawRate = yawGyro + dynamicOffsetYaw; |
202 | yawRate = yawGyro + dynamicOffsetYaw; |
209 | 203 | ||
- | 204 | // We are done reading variables from the analog module. |
|
210 | // We are done reading variables from the analog module. Interrupt-driven sensor reading may restart. |
205 | // Interrupt-driven sensor reading may restart. |
211 | analogDataReady = 0; |
206 | analogDataReady = 0; |
212 | analog_start(); |
207 | analog_start(); |
213 | } |
208 | } |
214 | - | ||
215 | /************************************************************************ |
- | |
216 | * Axis coupling, H&I Style |
- | |
217 | * Currently not working (and there is a bug in it, |
- | |
218 | * which causes unstable flight in heading-hold mode). |
- | |
219 | ************************************************************************/ |
- | |
220 | void H_and_I_axisCoupling(void) { |
- | |
221 | int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
- | |
222 | int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
- | |
223 | - | ||
224 | tmp13 = (rollRate * pitchAngle) / 2048L; |
- | |
225 | tmp13 *= dynamicParams.AxisCoupling2; // 65 |
- | |
226 | tmp13 /= 4096L; |
- | |
227 | CouplingNickRoll = tmp13; |
- | |
228 | - | ||
229 | tmp14 = (pitchRate * rollAngle) / 2048L; |
- | |
230 | tmp14 *= dynamicParams.AxisCoupling2; // 65 |
- | |
231 | tmp14 /= 4096L; |
- | |
232 | CouplingRollNick = tmp14; |
- | |
233 | - | ||
234 | tmp14 -= tmp13; |
- | |
235 | - | ||
236 | ACYawRate = yawRate + tmp14; |
- | |
237 | - | ||
238 | /* |
- | |
239 | if(!dynamicParams.AxisCouplingYawCorrection) ACYawRate = yawRate - tmp14 / 2; // force yaw |
- | |
240 | else ACYawRate |
- | |
241 | */ |
- | |
242 | - | ||
243 | tmpl = ((yawRate + tmp14) * pitchAngle) / 2048L; |
- | |
244 | tmpl *= dynamicParams.AxisCoupling1; |
- | |
245 | tmpl /= 4096L; |
- | |
246 | - | ||
247 | tmpl2 = ((yawRate + tmp14) * rollAngle) / 2048L; |
- | |
248 | tmpl2 *= dynamicParams.AxisCoupling1; |
- | |
249 | tmpl2 /= 4096L; |
- | |
250 | - | ||
251 | // if(abs(yawRate > 64)) { |
- | |
252 | // if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
- | |
253 | // } |
- | |
254 | - | ||
255 | ACPitchRate = pitchRate - tmpl2 + tmpl / 100L; |
- | |
256 | ACRollRate = rollRate + tmpl - tmpl2 / 100L; |
- | |
257 | } |
- | |
258 | 209 | ||
259 | /* |
210 | /* |
260 | * This is the standard flight-style coordinate system transformation |
211 | * This is the standard flight-style coordinate system transformation |
261 | * (from airframe-local axes to a ground-based system). For some reason |
212 | * (from airframe-local axes to a ground-based system). For some reason |
262 | * the MK uses a left-hand coordinate system. The tranformation has been |
213 | * the MK uses a left-hand coordinate system. The tranformation has been |
263 | * changed accordingly. |
214 | * changed accordingly. |
264 | */ |
215 | */ |
265 | void trigAxisCoupling(void) { |
216 | void trigAxisCoupling(void) { |
266 | int16_t cospitch = int_cos(pitchAngle); |
217 | int16_t cospitch = int_cos(angle[PITCH]); |
267 | int16_t cosroll = int_cos(rollAngle); |
218 | int16_t cosroll = int_cos(angle[ROLL]); |
268 | int16_t sinroll = int_sin(rollAngle); |
219 | int16_t sinroll = int_sin(angle[ROLL]); |
269 | int16_t tanpitch = int_tan(pitchAngle); |
220 | int16_t tanpitch = int_tan(angle[PITCH]); |
270 | #define ANTIOVF 1024 |
221 | #define ANTIOVF 1024 |
271 | ACPitchRate = ((int32_t)pitchRate * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
222 | ACRate[PITCH] = ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR; |
272 | ACRollRate = rollRate + (((int32_t)pitchRate * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(rollAngle) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * 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)); |
273 | ACYawRate = ((int32_t)pitchRate * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
224 | ACYawRate = ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch; |
274 | } |
225 | } |
275 | 226 | ||
276 | void integrate(void) { |
227 | void integrate(void) { |
277 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
228 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
- | 229 | uint8_t axis; |
|
- | 230 | ||
278 | if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) { |
231 | if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) { |
279 | // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead. |
232 | // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead. |
280 | if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) |
- | |
281 | trigAxisCoupling(); |
233 | trigAxisCoupling(); |
282 | else |
- | |
283 | H_and_I_axisCoupling(); |
- | |
284 | } else { |
234 | } else { |
285 | ACPitchRate = pitchRate; |
235 | ACRate[PITCH] = rate[PITCH]; |
286 | ACRollRate = rollRate; |
236 | ACRate[ROLL] = rate[ROLL]; |
287 | ACYawRate = yawRate; |
237 | ACYawRate = yawRate; |
288 | } |
238 | } |
289 | 239 | ||
290 | DebugOut.Analog[3] = pitchRate; |
- | |
291 | // DebugOut.Analog[3 + 3] = ACPitchRate; |
240 | DebugOut.Analog[3] = ACRate[PITCH]; |
292 | DebugOut.Analog[4] = rollRate; |
- | |
293 | // DebugOut.Analog[4 + 3] = ACRollRate; |
241 | DebugOut.Analog[4] = ACRate[ROLL]; |
294 | DebugOut.Analog[5] = yawRate; |
- | |
295 | // DebugOut.Analog[5 + 3] = ACYawRate; |
- | |
296 | - | ||
297 | /* |
- | |
298 | DebugOut.Analog[9] = int_cos(pitchAngle); |
- | |
299 | DebugOut.Analog[10] = int_sin(pitchAngle); |
- | |
300 | DebugOut.Analog[11] = int_tan(pitchAngle); |
- | |
301 | */ |
242 | DebugOut.Analog[5] = ACYawRate; |
302 | 243 | ||
303 | /* |
244 | /* |
304 | * Yaw |
245 | * Yaw |
305 | * Calculate yaw gyro integral (~ to rotation angle) |
246 | * Calculate yaw gyro integral (~ to rotation angle) |
306 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
247 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
307 | */ |
248 | */ |
308 | - | ||
309 | yawGyroHeading += ACYawRate; |
249 | yawGyroHeading += ACYawRate; |
310 | 250 | ||
311 | // Why is yawAngle not wrapped 'round? |
251 | // Why is yawAngle not wrapped 'round? |
312 | yawAngle += ACYawRate; |
252 | yawAngle += ACYawRate; |
313 | 253 | ||
314 | if(yawGyroHeading >= YAWOVER360) { |
254 | if(yawGyroHeading >= YAWOVER360) { |
315 | yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
255 | yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
316 | } else if(yawGyroHeading < 0) { |
256 | } else if(yawGyroHeading < 0) { |
317 | yawGyroHeading += YAWOVER360; |
257 | yawGyroHeading += YAWOVER360; |
318 | } |
258 | } |
319 | 259 | ||
320 | /* |
260 | /* |
321 | * Pitch axis integration and range boundary wrap. |
261 | * Pitch axis integration and range boundary wrap. |
322 | */ |
262 | */ |
- | 263 | for (axis=PITCH; axis<=ROLL; axis++) { |
|
323 | pitchAngle += ACPitchRate; |
264 | angle[axis] += ACRate[axis]; |
324 | if(pitchAngle > PITCHROLLOVER180) { |
265 | if(angle[axis] > PITCHROLLOVER180) { |
325 | pitchAngle -= PITCHROLLOVER360; |
266 | angle[axis] -= PITCHROLLOVER360; |
326 | } else if (pitchAngle <= -PITCHROLLOVER180) { |
267 | } else if (angle[axis] <= -PITCHROLLOVER180) { |
327 | pitchAngle += PITCHROLLOVER360; |
268 | angle[axis] += PITCHROLLOVER360; |
328 | } |
- | |
329 | - | ||
330 | /* |
- | |
331 | * Pitch axis integration and range boundary wrap. |
- | |
332 | */ |
269 | } |
333 | rollAngle += ACRollRate; |
- | |
334 | if(rollAngle > PITCHROLLOVER180) { |
- | |
335 | rollAngle -= PITCHROLLOVER360; |
- | |
336 | } else if (rollAngle <= -PITCHROLLOVER180) { |
- | |
337 | rollAngle += PITCHROLLOVER360; |
- | |
338 | } |
270 | } |
339 | } |
271 | } |
340 | 272 | ||
341 | /************************************************************************ |
273 | /************************************************************************ |
342 | * A kind of 0'th order integral correction, that corrects the integrals |
274 | * A kind of 0'th order integral correction, that corrects the integrals |
343 | * directly. This is the "gyroAccFactor" stuff in the original code. |
275 | * directly. This is the "gyroAccFactor" stuff in the original code. |
344 | * There is (there) also what I would call a "minus 1st order correction" |
276 | * There is (there) also what I would call a "minus 1st order correction" |
345 | * - it corrects the differential of the integral = the gyro offsets. |
277 | * - it corrects the differential of the integral = the gyro offsets. |
346 | * That should only be necessary with drifty gyros like ENC-03. |
278 | * That should only be necessary with drifty gyros like ENC-03. |
347 | ************************************************************************/ |
279 | ************************************************************************/ |
348 | void correctIntegralsByAcc0thOrder(void) { |
280 | void correctIntegralsByAcc0thOrder(void) { |
349 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
281 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
350 | // are less than ....., or reintroduce Kalman. |
282 | // are less than ....., or reintroduce Kalman. |
351 | // Well actually the Z axis acc. check is not so silly. |
283 | // Well actually the Z axis acc. check is not so silly. |
- | 284 | uint8_t axis; |
|
352 | if(!looping && //((ZAxisAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
285 | if(!looping && //((ZAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction |
353 | ZAxisAcc >= -dynamicParams.UserParams[7] && ZAxisAcc <= dynamicParams.UserParams[7]) { |
286 | ZAcc >= -dynamicParams.UserParams[7] && ZAcc <= dynamicParams.UserParams[7]) { |
354 | DebugOut.Digital[0] = 1; |
287 | DebugOut.Digital[0] = 1; |
355 | 288 | ||
356 | uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
289 | uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!! |
357 | uint8_t debugFullWeight = 1; |
290 | uint8_t debugFullWeight = 1; |
- | 291 | int32_t accDerived[2]; |
|
358 | - | ||
359 | int32_t accDerivedPitch = getPitchAngleEstimateFromAcc(); |
- | |
360 | int32_t accDerivedRoll = getRollAngleEstimateFromAcc(); |
- | |
361 | 292 | ||
362 | if((maxControlPitch > 64) || (maxControlRoll > 64)) { // reduce effect during stick commands |
293 | if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands |
363 | permilleAcc /= 2; |
294 | permilleAcc /= 2; |
364 | debugFullWeight = 0; |
295 | debugFullWeight = 0; |
365 | } |
296 | } |
366 | 297 | ||
367 | if(abs(controlYaw) > 25) { // reduce further if yaw stick is active |
298 | if(abs(controlYaw) > 25) { // reduce further if yaw stick is active |
368 | permilleAcc /= 2; |
299 | permilleAcc /= 2; |
369 | debugFullWeight = 0; |
300 | debugFullWeight = 0; |
370 | } |
301 | } |
371 | 302 | ||
372 | /* |
303 | /* |
373 | * Add to each sum: The amount by which the angle is changed just below. |
304 | * Add to each sum: The amount by which the angle is changed just below. |
374 | */ |
305 | */ |
375 | pitchCorrectionSum += permilleAcc * (accDerivedPitch - pitchAngle); |
306 | for (axis=PITCH; axis<=ROLL; axis++) { |
376 | rollCorrectionSum += permilleAcc * (accDerivedRoll - rollAngle); |
307 | accDerived[axis] = getAngleEstimateFromAcc(axis); |
377 | - | ||
378 | // There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
308 | correctionSum[axis] += permilleAcc * (accDerived[axis] - angle[axis]); |
379 | pitchAngle = ((int32_t)(1000 - permilleAcc) * pitchAngle + (int32_t)permilleAcc * accDerivedPitch) / 1000L; |
- | |
380 | rollAngle = ((int32_t)(1000 - permilleAcc) * rollAngle + (int32_t)permilleAcc * accDerivedRoll) / 1000L; |
- | |
- | 309 | ||
- | 310 | // There should not be a risk of overflow here, since the integrals do not exceed a few 100000. |
|
- | 311 | angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived[axis]) / 1000L; |
|
- | 312 | } |
|
381 | 313 | ||
382 | DebugOut.Digital[1] = debugFullWeight; |
314 | DebugOut.Digital[1] = debugFullWeight; |
383 | } else { |
315 | } else { |
384 | DebugOut.Digital[0] = 0; |
316 | DebugOut.Digital[0] = 0; |
385 | } |
317 | } |
386 | } |
318 | } |
387 | 319 | ||
388 | /************************************************************************ |
320 | /************************************************************************ |
389 | * This is an attempt to correct not the error in the angle integrals |
321 | * This is an attempt to correct not the error in the angle integrals |
390 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
322 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
391 | * cause of it: Gyro drift, vibration and rounding errors. |
323 | * cause of it: Gyro drift, vibration and rounding errors. |
392 | * All the corrections made in correctIntegralsByAcc0thOrder over |
324 | * All the corrections made in correctIntegralsByAcc0thOrder over |
393 | * MINUSFIRSTORDERCORRECTION_TIME cycles are summed up. This number is |
325 | * MINUSFIRSTORDERCORRECTION_TIME cycles are summed up. This number is |
394 | * then divided by MINUSFIRSTORDERCORRECTION_TIME to get the approx. |
326 | * then divided by MINUSFIRSTORDERCORRECTION_TIME to get the approx. |
395 | * correction that should have been applied to each iteration to fix |
327 | * correction that should have been applied to each iteration to fix |
396 | * the error. This is then added to the dynamic offsets. |
328 | * the error. This is then added to the dynamic offsets. |
397 | ************************************************************************/ |
329 | ************************************************************************/ |
398 | // 2 times / sec. |
330 | // 2 times / sec. |
399 | #define DRIFTCORRECTION_TIME 488/2 |
331 | #define DRIFTCORRECTION_TIME 488/2 |
400 | void driftCompensation(void) { |
332 | void driftCompensation(void) { |
401 | static int16_t timer = DRIFTCORRECTION_TIME; |
333 | static int16_t timer = DRIFTCORRECTION_TIME; |
402 | int16_t deltaCompensation; |
334 | int16_t deltaCompensation; |
- | 335 | uint8_t axis; |
|
403 | if (! --timer) { |
336 | if (! --timer) { |
404 | timer = DRIFTCORRECTION_TIME; |
337 | timer = DRIFTCORRECTION_TIME; |
405 | deltaCompensation = ((pitchCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
- | |
406 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
- | |
407 | dynamicOffsetPitch += deltaCompensation / staticParams.GyroAccTrim; |
338 | for (axis=PITCH; axis<=ROLL; axis++) { |
408 | - | ||
409 | deltaCompensation = ((rollCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
339 | deltaCompensation = ((correctionSum[axis] + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME); |
410 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
340 | CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp); |
411 | dynamicOffsetRoll += deltaCompensation / staticParams.GyroAccTrim; |
341 | dynamicOffset[axis] += deltaCompensation / staticParams.GyroAccTrim; |
412 | - | ||
413 | pitchCorrectionSum = rollCorrectionSum = 0; |
342 | correctionSum[axis] = 0; |
414 | - | ||
415 | DebugOut.Analog[28] = dynamicOffsetPitch; |
343 | DebugOut.Analog[28 + axis] = dynamicOffset; |
416 | DebugOut.Analog[29] = dynamicOffsetRoll; |
344 | } |
417 | } |
345 | } |
418 | } |
346 | } |
419 | 347 | ||
420 | /************************************************************************ |
348 | /************************************************************************ |
421 | * Main procedure. |
349 | * Main procedure. |
422 | ************************************************************************/ |
350 | ************************************************************************/ |
423 | void calculateFlightAttitude(void) { |
351 | void calculateFlightAttitude(void) { |
424 | getAnalogData(); |
352 | getAnalogData(); |
425 | integrate(); |
353 | integrate(); |
426 | #ifdef ATTITUDE_USE_ACC_SENSORS |
354 | #ifdef ATTITUDE_USE_ACC_SENSORS |
427 | correctIntegralsByAcc0thOrder(); |
355 | correctIntegralsByAcc0thOrder(); |
428 | driftCompensation(); |
356 | driftCompensation(); |
429 | #endif |
357 | #endif |
430 | } |
358 | } |
431 | 359 | ||
432 | /* |
360 | /* |
433 | void updateCompass(void) { |
361 | void updateCompass(void) { |
434 | int16_t w, v, r,correction, error; |
362 | int16_t w, v, r,correction, error; |
435 | |
363 | |
436 | if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
364 | if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
437 | setCompassCalState(); |
365 | setCompassCalState(); |
438 | } else { |
366 | } else { |
439 | // get maximum attitude angle |
367 | // get maximum attitude angle |
440 | w = abs(pitchAngle / 512); |
368 | w = abs(pitchAngle / 512); |
441 | v = abs(rollAngle / 512); |
369 | v = abs(rollAngle / 512); |
442 | if(v > w) w = v; |
370 | if(v > w) w = v; |
443 | correction = w / 8 + 1; |
371 | correction = w / 8 + 1; |
444 | // calculate the deviation of the yaw gyro heading and the compass heading |
372 | // calculate the deviation of the yaw gyro heading and the compass heading |
445 | if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
373 | if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
446 | else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
374 | else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
447 | if(abs(yawRate) > 128) { // spinning fast |
375 | if(abs(yawRate) > 128) { // spinning fast |
448 | error = 0; |
376 | error = 0; |
449 | } |
377 | } |
450 | if(!badCompassHeading && w < 25) { |
378 | if(!badCompassHeading && w < 25) { |
451 | if(updateCompassCourse) { |
379 | if(updateCompassCourse) { |
452 | beep(200); |
380 | beep(200); |
453 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
381 | yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW; |
454 | compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
382 | compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
455 | updateCompassCourse = 0; |
383 | updateCompassCourse = 0; |
456 | } |
384 | } |
457 | } |
385 | } |
458 | yawGyroHeading += (error * 8) / correction; |
386 | yawGyroHeading += (error * 8) / correction; |
459 | w = (w * dynamicParams.CompassYawEffect) / 32; |
387 | w = (w * dynamicParams.CompassYawEffect) / 32; |
460 | w = dynamicParams.CompassYawEffect - w; |
388 | w = dynamicParams.CompassYawEffect - w; |
461 | if(w >= 0) { |
389 | if(w >= 0) { |
462 | if(!badCompassHeading) { |
390 | if(!badCompassHeading) { |
463 | v = 64 + (maxControlPitch + maxControlRoll) / 8; |
391 | v = 64 + (maxControlPitch + maxControlRoll) / 8; |
464 | // calc course deviation |
392 | // calc course deviation |
465 | r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
393 | r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180; |
466 | v = (r * w) / v; // align to compass course |
394 | v = (r * w) / v; // align to compass course |
467 | // limit yaw rate |
395 | // limit yaw rate |
468 | w = 3 * dynamicParams.CompassYawEffect; |
396 | w = 3 * dynamicParams.CompassYawEffect; |
469 | if (v > w) v = w; |
397 | if (v > w) v = w; |
470 | else if (v < -w) v = -w; |
398 | else if (v < -w) v = -w; |
471 | yawAngle += v; |
399 | yawAngle += v; |
472 | } |
400 | } |
473 | else |
401 | else |
474 | { // wait a while |
402 | { // wait a while |
475 | badCompassHeading--; |
403 | badCompassHeading--; |
476 | } |
404 | } |
477 | } |
405 | } |
478 | else { // ignore compass at extreme attitudes for a while |
406 | else { // ignore compass at extreme attitudes for a while |
479 | badCompassHeading = 500; |
407 | badCompassHeading = 500; |
- | 408 | } |
|
480 | } |
409 | } |
481 | } |
410 | } |
482 | } |
- | |
483 | */ |
411 | */ |
484 | 412 | ||
485 | /* |
413 | /* |
486 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
414 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
487 | * and to compensate them away. It brings about some improvement, but no miracles. |
415 | * and to compensate them away. It brings about some improvement, but no miracles. |
488 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
416 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
489 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
417 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
490 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
418 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
491 | * speed unfortunately... must find a better way) |
419 | * speed unfortunately... must find a better way) |
492 | */ |
420 | */ |
493 | /* |
421 | /* |
494 | void attitude_startDynamicCalibration(void) { |
422 | void attitude_startDynamicCalibration(void) { |
495 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
423 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
496 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
424 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
497 | } |
425 | } |
498 | 426 | ||
499 | void attitude_continueDynamicCalibration(void) { |
427 | void attitude_continueDynamicCalibration(void) { |
500 | // measure dynamic offset now... |
428 | // measure dynamic offset now... |
501 | dynamicCalPitch += hiResPitchGyro; |
429 | dynamicCalPitch += hiResPitchGyro; |
502 | dynamicCalRoll += hiResRollGyro; |
430 | dynamicCalRoll += hiResRollGyro; |
503 | dynamicCalYaw += rawYawGyroSum; |
431 | dynamicCalYaw += rawYawGyroSum; |
504 | dynamicCalCount++; |
432 | dynamicCalCount++; |
505 | |
433 | |
506 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
434 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
507 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
435 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
508 | // manual mode |
436 | // manual mode |
509 | dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
437 | dynamicOffsetPitch = dynamicParams.UserParam7 - 128; |
510 | dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
438 | dynamicOffsetRoll = dynamicParams.UserParam8 - 128; |
511 | } else { |
439 | } else { |
512 | // use the sampled value (does not seem to work so well....) |
440 | // use the sampled value (does not seem to work so well....) |
513 | dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
441 | dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
514 | dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
442 | dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
515 | dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
443 | dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount; |
516 | } |
444 | } |
517 | |
445 | |
518 | // keep resetting these meanwhile, to avoid accumulating errors. |
446 | // keep resetting these meanwhile, to avoid accumulating errors. |
519 | setStaticAttitudeIntegrals(); |
447 | setStaticAttitudeIntegrals(); |
520 | yawAngle = 0; |
448 | yawAngle = 0; |
521 | } |
449 | } |
522 | */ |
450 | */ |
523 | 451 |