WebSVN - FlightCtrl - Diff - Rev 2048 and 2051 - /branches/dongfang_FC


#include <stdlib.h>
#include <avr/io.h>
 
#include "attitude.h"
#include "dongfangMath.h"
#include "commands.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"
 
#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_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 attitude[2];
 
//int readingHeight = 0;
 
// Yaw angle and compass stuff.
 
 
 
 
 
 
 
int32_t headingError;
 
// The difference between the above 2 (heading - course) on a -180..179 degree interval.
// Not necessary. Never read anywhere.
// int16_t compassOffCourse = 0;
 
uint16_t ignoreCompassTimer = 0;// 500;
 
int32_t heading; // Yaw Gyro Integral supported by compass
int16_t yawGyroDrift;
 
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 driftComp[2] = { 0, 0 }, driftCompYaw = 0;
// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
// int16_t dynamicCalCount;
 
uint16_t accVector;
 
/************************************************************************
 * 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) {
  //int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L;
  return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm;
  // return 342L * filteredAcc[axis];
}
 
void setStaticAttitudeAngles(void) {
#ifdef ATTITUDE_USE_ACC_SENSORS
  attitude[PITCH] = getAngleEstimateFromAcc(PITCH);
  attitude[ROLL] = getAngleEstimateFromAcc(ROLL);
#else
  attitude[PITCH] = attitude[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;
 
  driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;
  correctionSum[PITCH] = correctionSum[ROLL] = 0;
 
  // Calibrate hardware.
  analog_setNeutral();
 
  // reset gyro integrals to acc guessing
  setStaticAttitudeAngles();
  attitude_resetHeadingToMagnetic();
  // 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].
 *************************************************************************/
void getAnalogData(void) {
  uint8_t axis;
 
  analog_update();
 
  for (axis = PITCH; axis <= ROLL; axis++) {
    rate_PID[axis] = gyro_PID[axis] + driftComp[axis];
    rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis];
    differential[axis] = gyroD[axis];
    averageAcc[axis] += acc[axis];
  }
 
  averageAccCount++;
  yawRate = yawGyro + driftCompYaw;
}
 
/*
 * 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 rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL;
  int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL;
 
  int16_t cospitch = cos_360(pitchAngleInDegrees);
  int16_t cosroll = cos_360(rollAngleInDegrees);
  int16_t sinroll = sin_360(rollAngleInDegrees);
 
  ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll
      - (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR);
 
  ACRate[ROLL] = rate_ATT[ROLL]
      + (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)
          >> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees))
          >> LOG_MATH_UNIT_FACTOR);
 
  ACYawRate =
      ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)
          / cospitch;
 
  ACYawRate =
      ((int32_t) rate_ATT[PITCH] * sinroll + (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 (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) {
    trigAxisCoupling();
  } else {
    ACRate[PITCH] = rate_ATT[PITCH];
    ACRate[ROLL] = rate_ATT[ROLL];
    ACYawRate = yawRate;
  }
 
  /*
   * Yaw
   * Calculate yaw gyro integral (~ to rotation angle)
   * Limit heading proportional to 0 deg to 360 deg
   */
  heading += ACYawRate;
  intervalWrap(&heading, YAWOVER360);
 
  headingError += ACYawRate;
 
  debugOut.analog[27] = heading / 100;
 
  /*
   * Pitch axis integration and range boundary wrap.
   */
  for (axis = PITCH; axis <= ROLL; axis++) {
    attitude[axis] += ACRate[axis];
    if (attitude[axis] > PITCHROLLOVER180) {
      attitude[axis] -= PITCHROLLOVER360;
    } else if (attitude[axis] <= -PITCHROLLOVER180) {
      attitude[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 temp;
 
  uint8_t ca = controlActivity >> 8;
  uint8_t highControlActivity = (ca > staticParams.maxControlActivity);
 
  if (highControlActivity) {
    debugOut.digital[1] |= DEBUG_ACC0THORDER;
  } else {
    debugOut.digital[1] &= ~DEBUG_ACC0THORDER;
  }
 
  if (accVector <= dynamicParams.maxAccVector) {
    debugOut.digital[0] &= ~DEBUG_ACC0THORDER;
 
    uint8_t permilleAcc = staticParams.zerothOrderCorrection;
    int32_t accDerived;
 
    /*
     if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active
     permilleAcc /= 2;
     debugFullWeight = 0;
     }
 
     if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity.
     permilleAcc /= 2;
     debugFullWeight = 0;
     */
 
    if (highControlActivity) { // reduce effect during stick control activity
      permilleAcc /= 4;
      if (controlActivity > staticParams.maxControlActivity * 2) { // reduce effect during stick control activity
        permilleAcc /= 4;
      }
    }
 
    /*
     * 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] = accDerived / (GYRO_DEG_FACTOR_PITCHROLL / 10);
      // 1000 * the correction amount that will be added to the gyro angle in next line.
      temp = attitude[axis];
      attitude[axis] = ((int32_t) (1000L - permilleAcc) * temp
          + (int32_t) permilleAcc * accDerived) / 1000L;
      correctionSum[axis] += attitude[axis] - temp;
    }
  } else {
    debugOut.analog[9] = 0;
    debugOut.analog[10] = 0;
    // experiment: Kill drift compensation updates when not flying smooth.
    // correctionSum[PITCH] = correctionSum[ROLL] = 0;
    debugOut.digital[0] |= DEBUG_ACC0THORDER;
  }
}
 
/************************************************************************
 * 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;
  int16_t round;
  uint8_t axis;
 
  if (!--timer) {
    timer = DRIFTCORRECTION_TIME;
    for (axis = PITCH; axis <= ROLL; axis++) {
      // Take the sum of corrections applied, add it to delta
      if (correctionSum[axis] >= 0)
        round = DRIFTCORRECTION_TIME / 2;
      else
        round = -DRIFTCORRECTION_TIME / 2;
      deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;
      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
      driftComp[axis] += deltaCorrection / staticParams.driftCompDivider;
      CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit);
      // DebugOut.Analog[11 + axis] = correctionSum[axis];
      // DebugOut.Analog[16 + axis] = correctionSum[axis];
      // debugOut.analog[28 + axis] = driftComp[axis];
      correctionSum[axis] = 0;
    }
  }
}
 
void calculateAccVector(void) {
  int16_t temp;
  temp = filteredAcc[0] >> 3;
  accVector = temp * temp;
  temp = filteredAcc[1] >> 3;
  accVector += temp * temp;
  temp = filteredAcc[2] >> 3;
  accVector += temp * temp;
  //debugOut.analog[18] = accVector;
}
 
void attitude_resetHeadingToMagnetic(void) {
  if (commands_isCalibratingCompass())
    return;
 
  // Compass is off, skip.
  if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE))
      return;
 
  // Compass is invalid, skip.
  if (magneticHeading < 0)
    return;
 
  heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW;
  //targetHeading = heading;
  headingError = 0;
 
  debugOut.digital[0] ^= DEBUG_COMPASS;
}
 
void correctHeadingToMagnetic(void) {
  int32_t error;
 
 
 
  if (commands_isCalibratingCompass()) {
    debugOut.analog[29] = 1;
    return;
  }
 
  // Compass is off, skip.
  // Naaah this is assumed.
  // if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE))
  //     return;
 
  // Compass is invalid, skip.
  if (magneticHeading < 0) {
    debugOut.analog[29] = 2;
    return;
  }
 
  // Spinning fast, skip
  if (abs(yawRate) > 128) {
    debugOut.analog[29] = 3;
    return;
  }
 
  // Otherwise invalidated, skip
  if (ignoreCompassTimer) {
    ignoreCompassTimer--;
    debugOut.analog[29] = 4;
    return;
  }
 
  // TODO: Find computational cost of this.
  error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading);
  if (error <= -YAWOVER180) error += YAWOVER360;
  else if (error > YAWOVER180) error -= YAWOVER360;
 
  // We only correct errors larger than the resolution of the compass, or else we would keep rounding the
  // better resolution of the gyros to the worse resolution of the compass all the time.
  // The correction should really only serve to compensate for gyro drift.
  if(abs(error) < GYRO_DEG_FACTOR_YAW) return;
 
  int32_t correction = (error * staticParams.compassYawCorrection) >> 8;
  debugOut.analog[30] = correction;
 
  // The correction is added both to current heading (the direction in which the copter thinks it is pointing)
  // and to the target heading (the direction to which it maneuvers to point). That means, this correction has
  // no effect on control at all!!! It only has effect on the values of the two variables. However, these values
  // could have effect on control elsewhere, like in compassControl.c .
  heading += correction;
  intervalWrap(&heading, YAWOVER360);
 
  // If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all
  // when the compass corrects the heading - it only corrects numbers!) we want to add:
  // This will however cause drift to remain uncorrected!
 
  // headingError += correction;
  debugOut.analog[29] = 0;
}
 
/************************************************************************
 * Main procedure.
 ************************************************************************/
void calculateFlightAttitude(void) {
  getAnalogData();
  calculateAccVector();
  integrate();
 
#ifdef ATTITUDE_USE_ACC_SENSORS
  correctIntegralsByAcc0thOrder();
  driftCorrection();
#endif
 
  // We are done reading variables from the analog module.
  // Interrupt-driven sensor reading may restart.
  startAnalogConversionCycle();
 
  if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
    correctHeadingToMagnetic();
  }
}
 
/*
 * 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
 driftCompPitch = dynamicParams.UserParam7 - 128;
 driftCompRoll = dynamicParams.UserParam8 - 128;
 } else {
 // use the sampled value (does not seem to work so well....)
 driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
 driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
 driftCompYaw = -dynamicCalYaw / dynamicCalCount;
 }
 
 // keep resetting these meanwhile, to avoid accumulating errors.
 setStaticAttitudeIntegrals();
 yawAngle = 0;
 }
 */
 

Rev 2048	Rev 2051
1	#include <stdlib.h>	1	#include <stdlib.h>
2	#include <avr/io.h>	2	#include <avr/io.h>
3		3
4	#include "attitude.h"	4	#include "attitude.h"
5	#include "dongfangMath.h"	5	#include "dongfangMath.h"
6	#include "commands.h"	6	#include "commands.h"
7		7
8	// For scope debugging only!	8	// For scope debugging only!
9	#include "rc.h"	9	#include "rc.h"
10		10
11	// where our main data flow comes from.	11	// where our main data flow comes from.
12	#include "analog.h"	12	#include "analog.h"
13		13
14	#include "configuration.h"	14	#include "configuration.h"
15	#include "output.h"	15	#include "output.h"
16		16
17	// Some calculations are performed depending on some stick related things.	17	// Some calculations are performed depending on some stick related things.
18	#include "controlMixer.h"	18	#include "controlMixer.h"
19		19
20	#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}	20	#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
21		21
22	/*	22	/*
23	* Gyro readings, as read from the analog module. It would have been nice to flow	23	* Gyro readings, as read from the analog module. It would have been nice to flow
24	* them around between the different calculations as a struct or array (doing	24	* them around between the different calculations as a struct or array (doing
25	* things functionally without side effects) but this is shorter and probably	25	* things functionally without side effects) but this is shorter and probably
26	* faster too.	26	* faster too.
27	* The variables are overwritten at each attitude calculation invocation - the values	27	* The variables are overwritten at each attitude calculation invocation - the values
28	* are not preserved or reused.	28	* are not preserved or reused.
29	*/	29	*/
30	int16_t rate_ATT[2], yawRate;	30	int16_t rate_ATT[2], yawRate;
31		31
32	// With different (less) filtering	32	// With different (less) filtering
33	int16_t rate_PID[2];	33	int16_t rate_PID[2];
34	int16_t differential[2];	34	int16_t differential[2];
35		35
36	/*	36	/*
37	* Gyro readings, after performing "axis coupling" - that is, the transfomation	37	* Gyro readings, after performing "axis coupling" - that is, the transfomation
38	* of rotation rates from the airframe-local coordinate system to a ground-fixed	38	* of rotation rates from the airframe-local coordinate system to a ground-fixed
39	* coordinate system. If axis copling is disabled, the gyro readings will be	39	* coordinate system. If axis copling is disabled, the gyro readings will be
40	* copied into these directly.	40	* copied into these directly.
41	* These are global for the same pragmatic reason as with the gyro readings.	41	* These are global for the same pragmatic reason as with the gyro readings.
42	* The variables are overwritten at each attitude calculation invocation - the values	42	* The variables are overwritten at each attitude calculation invocation - the values
43	* are not preserved or reused.	43	* are not preserved or reused.
44	*/	44	*/
45	int16_t ACRate[2], ACYawRate;	45	int16_t ACRate[2], ACYawRate;
46		46
47	/*	47	/*
48	* Gyro integrals. These are the rotation angles of the airframe compared to the	48	* Gyro integrals. These are the rotation angles of the airframe compared to the
49	* horizontal plane, yaw relative to yaw at start.	49	* horizontal plane, yaw relative to yaw at start.
50	*/	50	*/
51	int32_t attitude[2];	51	int32_t attitude[2];
52		52
53	//int readingHeight = 0;	53	//int readingHeight = 0;
54		54
55	// Yaw angle and compass stuff.	55	// Yaw angle and compass stuff.
56		-
57	// This is updated/written from MM3. Negative angle indicates invalid data.	-
58	int16_t magneticHeading = -1;	-
59		-
60	// This is NOT updated from MM3. Negative angle indicates invalid data.	-
61	// int16_t headingInDegrees = -1;	-
62		-
63	int32_t targetHeading;	56	int32_t headingError;
64		57
65	// The difference between the above 2 (heading - course) on a -180..179 degree interval.	58	// The difference between the above 2 (heading - course) on a -180..179 degree interval.
66	// Not necessary. Never read anywhere.	59	// Not necessary. Never read anywhere.
67	// int16_t compassOffCourse = 0;	60	// int16_t compassOffCourse = 0;
68		61
69	uint16_t ignoreCompassTimer = 500;	62	uint16_t ignoreCompassTimer = 0;// 500;
70		63
71	int32_t heading; // Yaw Gyro Integral supported by compass	64	int32_t heading; // Yaw Gyro Integral supported by compass
72	int16_t yawGyroDrift;	65	int16_t yawGyroDrift;
73		66
74	int16_t correctionSum[2] = { 0, 0 };	67	int16_t correctionSum[2] = { 0, 0 };
75		68
76	// For NaviCTRL use.	69	// For NaviCTRL use.
77	int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0;	70	int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0;
78		71
79	/*	72	/*
80	* Experiment: Compensating for dynamic-induced gyro biasing.	73	* Experiment: Compensating for dynamic-induced gyro biasing.
81	*/	74	*/
82	int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0;	75	int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0;
83	// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;	76	// int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
84	// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;	77	// int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw;
85	// int16_t dynamicCalCount;	78	// int16_t dynamicCalCount;
86		79
87	uint16_t accVector;	80	uint16_t accVector;
88		81
89	/************************************************************************	82	/************************************************************************
90	* Set inclination angles from the acc. sensor data.	83	* Set inclination angles from the acc. sensor data.
91	* If acc. sensors are not used, set to zero.	84	* If acc. sensors are not used, set to zero.
92	* TODO: One could use inverse sine to calculate the angles more	85	* TODO: One could use inverse sine to calculate the angles more
93	* accurately, but since: 1) the angles are rather small at times when	86	* accurately, but since: 1) the angles are rather small at times when
94	* it makes sense to set the integrals (standing on ground, or flying at	87	* it makes sense to set the integrals (standing on ground, or flying at
95	* constant speed, and 2) at small angles a, sin(a) ~= constant * a,	88	* constant speed, and 2) at small angles a, sin(a) ~= constant * a,
96	* it is hardly worth the trouble.	89	* it is hardly worth the trouble.
97	************************************************************************/	90	************************************************************************/
98		91
99	int32_t getAngleEstimateFromAcc(uint8_t axis) {	92	int32_t getAngleEstimateFromAcc(uint8_t axis) {
100	//int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L;	93	//int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L;
101	return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm;	94	return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm;
102	// return 342L * filteredAcc[axis];	95	// return 342L * filteredAcc[axis];
103	}	96	}
104		97
105	void setStaticAttitudeAngles(void) {	98	void setStaticAttitudeAngles(void) {
106	#ifdef ATTITUDE_USE_ACC_SENSORS	99	#ifdef ATTITUDE_USE_ACC_SENSORS
107	attitude[PITCH] = getAngleEstimateFromAcc(PITCH);	100	attitude[PITCH] = getAngleEstimateFromAcc(PITCH);
108	attitude[ROLL] = getAngleEstimateFromAcc(ROLL);	101	attitude[ROLL] = getAngleEstimateFromAcc(ROLL);
109	#else	102	#else
110	attitude[PITCH] = attitude[ROLL] = 0;	103	attitude[PITCH] = attitude[ROLL] = 0;
111	#endif	104	#endif
112	}	105	}
113		106
114	/************************************************************************	107	/************************************************************************
115	* Neutral Readings	108	* Neutral Readings
116	************************************************************************/	109	************************************************************************/
117	void attitude_setNeutral(void) {	110	void attitude_setNeutral(void) {
118	// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.	111	// Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
119	// dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0;	112	// dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0;
120		113
121	driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;	114	driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;
122	correctionSum[PITCH] = correctionSum[ROLL] = 0;	115	correctionSum[PITCH] = correctionSum[ROLL] = 0;
123		116
124	// Calibrate hardware.	117	// Calibrate hardware.
125	analog_setNeutral();	118	analog_setNeutral();
126		119
127	// reset gyro integrals to acc guessing	120	// reset gyro integrals to acc guessing
128	setStaticAttitudeAngles();	121	setStaticAttitudeAngles();
129	attitude_resetHeadingToMagnetic();	122	attitude_resetHeadingToMagnetic();
130	// Servo_On(); //enable servo output	123	// Servo_On(); //enable servo output
131	}	124	}
132		125
133	/************************************************************************	126	/************************************************************************
134	* Get sensor data from the analog module, and release the ADC	127	* Get sensor data from the analog module, and release the ADC
135	* TODO: Ultimately, the analog module could do this (instead of dumping	128	* TODO: Ultimately, the analog module could do this (instead of dumping
136	* the values into variables).	129	* the values into variables).
137	* The rate variable end up in a range of about [-1024, 1023].	130	* The rate variable end up in a range of about [-1024, 1023].
138	*************************************************************************/	131	*************************************************************************/
139	void getAnalogData(void) {	132	void getAnalogData(void) {
140	uint8_t axis;	133	uint8_t axis;
141		134
142	analog_update();	135	analog_update();
143		136
144	for (axis = PITCH; axis <= ROLL; axis++) {	137	for (axis = PITCH; axis <= ROLL; axis++) {
145	rate_PID[axis] = gyro_PID[axis] + driftComp[axis];	138	rate_PID[axis] = gyro_PID[axis] + driftComp[axis];
146	rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis];	139	rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis];
147	differential[axis] = gyroD[axis];	140	differential[axis] = gyroD[axis];
148	averageAcc[axis] += acc[axis];	141	averageAcc[axis] += acc[axis];
149	}	142	}
150		143
151	averageAccCount++;	144	averageAccCount++;
152	yawRate = yawGyro + driftCompYaw;	145	yawRate = yawGyro + driftCompYaw;
153	}	146	}
154		147
155	/*	148	/*
156	* This is the standard flight-style coordinate system transformation	149	* This is the standard flight-style coordinate system transformation
157	* (from airframe-local axes to a ground-based system). For some reason	150	* (from airframe-local axes to a ground-based system). For some reason
158	* the MK uses a left-hand coordinate system. The tranformation has been	151	* the MK uses a left-hand coordinate system. The tranformation has been
159	* changed accordingly.	152	* changed accordingly.
160	*/	153	*/
161	void trigAxisCoupling(void) {	154	void trigAxisCoupling(void) {
162	int16_t rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL;	155	int16_t rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL;
163	int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL;	156	int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL;
164		157
165	int16_t cospitch = cos_360(pitchAngleInDegrees);	158	int16_t cospitch = cos_360(pitchAngleInDegrees);
166	int16_t cosroll = cos_360(rollAngleInDegrees);	159	int16_t cosroll = cos_360(rollAngleInDegrees);
167	int16_t sinroll = sin_360(rollAngleInDegrees);	160	int16_t sinroll = sin_360(rollAngleInDegrees);
168		161
169	ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll	162	ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll
170	- (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR);	163	- (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR);
171		164
172	ACRate[ROLL] = rate_ATT[ROLL]	165	ACRate[ROLL] = rate_ATT[ROLL]
173	+ (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)	166	+ (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)
174	>> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees))	167	>> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees))
175	>> LOG_MATH_UNIT_FACTOR);	168	>> LOG_MATH_UNIT_FACTOR);
176		169
177	ACYawRate =	170	ACYawRate =
178	((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)	171	((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)
179	/ cospitch;	172	/ cospitch;
180		173
181	ACYawRate =	174	ACYawRate =
182	((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)	175	((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll)
183	/ cospitch;	176	/ cospitch;
184	}	177	}
185		178
186	// 480 usec with axis coupling - almost no time without.	179	// 480 usec with axis coupling - almost no time without.
187	void integrate(void) {	180	void integrate(void) {
188	// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.	181	// First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
189	uint8_t axis;	182	uint8_t axis;
190		183
191	if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) {	184	if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) {
192	trigAxisCoupling();	185	trigAxisCoupling();
193	} else {	186	} else {
194	ACRate[PITCH] = rate_ATT[PITCH];	187	ACRate[PITCH] = rate_ATT[PITCH];
195	ACRate[ROLL] = rate_ATT[ROLL];	188	ACRate[ROLL] = rate_ATT[ROLL];
196	ACYawRate = yawRate;	189	ACYawRate = yawRate;
197	}	190	}
198		191
199	/*	192	/*
200	* Yaw	193	* Yaw
201	* Calculate yaw gyro integral (~ to rotation angle)	194	* Calculate yaw gyro integral (~ to rotation angle)
202	* Limit heading proportional to 0 deg to 360 deg	195	* Limit heading proportional to 0 deg to 360 deg
203	*/	196	*/
204	heading += ACYawRate;	197	heading += ACYawRate;
205	intervalWrap(&heading, YAWOVER360);	198	intervalWrap(&heading, YAWOVER360);
-		199
-		200	headingError += ACYawRate;
-		201
-		202	debugOut.analog[27] = heading / 100;
-		203
206	/*	204	/*
207	* Pitch axis integration and range boundary wrap.	205	* Pitch axis integration and range boundary wrap.
208	*/	206	*/
209	for (axis = PITCH; axis <= ROLL; axis++) {	207	for (axis = PITCH; axis <= ROLL; axis++) {
210	attitude[axis] += ACRate[axis];	208	attitude[axis] += ACRate[axis];
211	if (attitude[axis] > PITCHROLLOVER180) {	209	if (attitude[axis] > PITCHROLLOVER180) {
212	attitude[axis] -= PITCHROLLOVER360;	210	attitude[axis] -= PITCHROLLOVER360;
213	} else if (attitude[axis] <= -PITCHROLLOVER180) {	211	} else if (attitude[axis] <= -PITCHROLLOVER180) {
214	attitude[axis] += PITCHROLLOVER360;	212	attitude[axis] += PITCHROLLOVER360;
215	}	213	}
216	}	214	}
217	}	215	}
218		216
219	/************************************************************************	217	/************************************************************************
220	* A kind of 0'th order integral correction, that corrects the integrals	218	* A kind of 0'th order integral correction, that corrects the integrals
221	* directly. This is the "gyroAccFactor" stuff in the original code.	219	* directly. This is the "gyroAccFactor" stuff in the original code.
222	* There is (there) also a drift compensation	220	* There is (there) also a drift compensation
223	* - it corrects the differential of the integral = the gyro offsets.	221	* - it corrects the differential of the integral = the gyro offsets.
224	* That should only be necessary with drifty gyros like ENC-03.	222	* That should only be necessary with drifty gyros like ENC-03.
225	************************************************************************/	223	************************************************************************/
226	void correctIntegralsByAcc0thOrder(void) {	224	void correctIntegralsByAcc0thOrder(void) {
227	// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities	225	// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
228	// are less than ....., or reintroduce Kalman.	226	// are less than ....., or reintroduce Kalman.
229	// Well actually the Z axis acc. check is not so silly.	227	// Well actually the Z axis acc. check is not so silly.
230	uint8_t axis;	228	uint8_t axis;
231	int32_t temp;	229	int32_t temp;
232		230
233	uint8_t ca = controlActivity >> 8;	231	uint8_t ca = controlActivity >> 8;
234	uint8_t highControlActivity = (ca > staticParams.maxControlActivity);	232	uint8_t highControlActivity = (ca > staticParams.maxControlActivity);
235		233
236	if (highControlActivity) {	234	if (highControlActivity) {
237	debugOut.digital[1] \|= DEBUG_ACC0THORDER;	235	debugOut.digital[1] \|= DEBUG_ACC0THORDER;
238	} else {	236	} else {
239	debugOut.digital[1] &= ~DEBUG_ACC0THORDER;	237	debugOut.digital[1] &= ~DEBUG_ACC0THORDER;
240	}	238	}
241		239
242	if (accVector <= dynamicParams.maxAccVector) {	240	if (accVector <= dynamicParams.maxAccVector) {
243	debugOut.digital[0] &= ~DEBUG_ACC0THORDER;	241	debugOut.digital[0] &= ~DEBUG_ACC0THORDER;
244		242
245	uint8_t permilleAcc = staticParams.zerothOrderCorrection;	243	uint8_t permilleAcc = staticParams.zerothOrderCorrection;
246	int32_t accDerived;	244	int32_t accDerived;
247		245
248	/*	246	/*
249	if ((controlYaw < -64) \|\| (controlYaw > 64)) { // reduce further if yaw stick is active	247	if ((controlYaw < -64) \|\| (controlYaw > 64)) { // reduce further if yaw stick is active
250	permilleAcc /= 2;	248	permilleAcc /= 2;
251	debugFullWeight = 0;	249	debugFullWeight = 0;
252	}	250	}
253		251
254	if ((maxControl[PITCH] > 64) \|\| (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity.	252	if ((maxControl[PITCH] > 64) \|\| (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity.
255	permilleAcc /= 2;	253	permilleAcc /= 2;
256	debugFullWeight = 0;	254	debugFullWeight = 0;
257	*/	255	*/
258		256
259	if (highControlActivity) { // reduce effect during stick control activity	257	if (highControlActivity) { // reduce effect during stick control activity
260	permilleAcc /= 4;	258	permilleAcc /= 4;
261	if (controlActivity > staticParams.maxControlActivity * 2) { // reduce effect during stick control activity	259	if (controlActivity > staticParams.maxControlActivity * 2) { // reduce effect during stick control activity
262	permilleAcc /= 4;	260	permilleAcc /= 4;
263	}	261	}
264	}	262	}
265		263
266	/*	264	/*
267	* Add to each sum: The amount by which the angle is changed just below.	265	* Add to each sum: The amount by which the angle is changed just below.
268	*/	266	*/
269	for (axis = PITCH; axis <= ROLL; axis++) {	267	for (axis = PITCH; axis <= ROLL; axis++) {
270	accDerived = getAngleEstimateFromAcc(axis);	268	accDerived = getAngleEstimateFromAcc(axis);
271	debugOut.analog[9 + axis] = accDerived / (GYRO_DEG_FACTOR_PITCHROLL / 10);	269	debugOut.analog[9 + axis] = accDerived / (GYRO_DEG_FACTOR_PITCHROLL / 10);
272	// 1000 * the correction amount that will be added to the gyro angle in next line.	270	// 1000 * the correction amount that will be added to the gyro angle in next line.
273	temp = attitude[axis];	271	temp = attitude[axis];
274	attitude[axis] = ((int32_t) (1000L - permilleAcc) * temp	272	attitude[axis] = ((int32_t) (1000L - permilleAcc) * temp
275	+ (int32_t) permilleAcc * accDerived) / 1000L;	273	+ (int32_t) permilleAcc * accDerived) / 1000L;
276	correctionSum[axis] += attitude[axis] - temp;	274	correctionSum[axis] += attitude[axis] - temp;
277	}	275	}
278	} else {	276	} else {
279	debugOut.analog[9] = 0;	277	debugOut.analog[9] = 0;
280	debugOut.analog[10] = 0;	278	debugOut.analog[10] = 0;
281	// experiment: Kill drift compensation updates when not flying smooth.	279	// experiment: Kill drift compensation updates when not flying smooth.
282	// correctionSum[PITCH] = correctionSum[ROLL] = 0;	280	// correctionSum[PITCH] = correctionSum[ROLL] = 0;
283	debugOut.digital[0] \|= DEBUG_ACC0THORDER;	281	debugOut.digital[0] \|= DEBUG_ACC0THORDER;
284	}	282	}
285	}	283	}
286		284
287	/************************************************************************	285	/************************************************************************
288	* This is an attempt to correct not the error in the angle integrals	286	* This is an attempt to correct not the error in the angle integrals
289	* (that happens in correctIntegralsByAcc0thOrder above) but rather the	287	* (that happens in correctIntegralsByAcc0thOrder above) but rather the
290	* cause of it: Gyro drift, vibration and rounding errors.	288	* cause of it: Gyro drift, vibration and rounding errors.
291	* All the corrections made in correctIntegralsByAcc0thOrder over	289	* All the corrections made in correctIntegralsByAcc0thOrder over
292	* DRIFTCORRECTION_TIME cycles are summed up. This number is	290	* DRIFTCORRECTION_TIME cycles are summed up. This number is
293	* then divided by DRIFTCORRECTION_TIME to get the approx.	291	* then divided by DRIFTCORRECTION_TIME to get the approx.
294	* correction that should have been applied to each iteration to fix	292	* correction that should have been applied to each iteration to fix
295	* the error. This is then added to the dynamic offsets.	293	* the error. This is then added to the dynamic offsets.
296	************************************************************************/	294	************************************************************************/
297	// 2 times / sec. = 488/2	295	// 2 times / sec. = 488/2
298	#define DRIFTCORRECTION_TIME 256L	296	#define DRIFTCORRECTION_TIME 256L
299	void driftCorrection(void) {	297	void driftCorrection(void) {
300	static int16_t timer = DRIFTCORRECTION_TIME;	298	static int16_t timer = DRIFTCORRECTION_TIME;
301	int16_t deltaCorrection;	299	int16_t deltaCorrection;
302	int16_t round;	300	int16_t round;
303	uint8_t axis;	301	uint8_t axis;
304		302
305	if (!--timer) {	303	if (!--timer) {
306	timer = DRIFTCORRECTION_TIME;	304	timer = DRIFTCORRECTION_TIME;
307	for (axis = PITCH; axis <= ROLL; axis++) {	305	for (axis = PITCH; axis <= ROLL; axis++) {
308	// Take the sum of corrections applied, add it to delta	306	// Take the sum of corrections applied, add it to delta
309	if (correctionSum[axis] >= 0)	307	if (correctionSum[axis] >= 0)
310	round = DRIFTCORRECTION_TIME / 2;	308	round = DRIFTCORRECTION_TIME / 2;
311	else	309	else
312	round = -DRIFTCORRECTION_TIME / 2;	310	round = -DRIFTCORRECTION_TIME / 2;
313	deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;	311	deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME;
314	// Add the delta to the compensation. So positive delta means, gyro should have higher value.	312	// Add the delta to the compensation. So positive delta means, gyro should have higher value.
315	driftComp[axis] += deltaCorrection / staticParams.driftCompDivider;	313	driftComp[axis] += deltaCorrection / staticParams.driftCompDivider;
316	CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit);	314	CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit);
317	// DebugOut.Analog[11 + axis] = correctionSum[axis];	315	// DebugOut.Analog[11 + axis] = correctionSum[axis];
318	// DebugOut.Analog[16 + axis] = correctionSum[axis];	316	// DebugOut.Analog[16 + axis] = correctionSum[axis];
319	// debugOut.analog[28 + axis] = driftComp[axis];	317	// debugOut.analog[28 + axis] = driftComp[axis];
320	correctionSum[axis] = 0;	318	correctionSum[axis] = 0;
321	}	319	}
322	}	320	}
323	}	321	}
324		322
325	void calculateAccVector(void) {	323	void calculateAccVector(void) {
326	int16_t temp;	324	int16_t temp;
327	temp = filteredAcc[0] >> 3;	325	temp = filteredAcc[0] >> 3;
328	accVector = temp * temp;	326	accVector = temp * temp;
329	temp = filteredAcc[1] >> 3;	327	temp = filteredAcc[1] >> 3;
330	accVector += temp * temp;	328	accVector += temp * temp;
331	temp = filteredAcc[2] >> 3;	329	temp = filteredAcc[2] >> 3;
332	accVector += temp * temp;	330	accVector += temp * temp;
333	//debugOut.analog[18] = accVector;	331	//debugOut.analog[18] = accVector;
334	}	332	}
335		333
336	void attitude_resetHeadingToMagnetic(void) {	334	void attitude_resetHeadingToMagnetic(void) {
337	if (commands_isCalibratingCompass())	335	if (commands_isCalibratingCompass())
338	return;	336	return;
339		337
340	// Compass is off, skip.	338	// Compass is off, skip.
341	if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE))	339	if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE))
342	return;	340	return;
343		341
344	// Compass is invalid, skip.	342	// Compass is invalid, skip.
345	if (magneticHeading < 0)	343	if (magneticHeading < 0)
346	return;	344	return;
347		345
348	heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW;	346	heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW;
349	targetHeading = heading;	347	//targetHeading = heading;
-		348	headingError = 0;
350		349
351	debugOut.digital[0] ^= DEBUG_COMPASS;	350	debugOut.digital[0] ^= DEBUG_COMPASS;
352	}	351	}
353		352
354	void correctHeadingToMagnetic(void) {	353	void correctHeadingToMagnetic(void) {
355	int32_t error;	354	int32_t error;
356		-
357	debugOut.analog[27] = heading;	-
358		355
-		356	if (commands_isCalibratingCompass()) {
359	if (commands_isCalibratingCompass())	357	debugOut.analog[29] = 1;
-		358	return;
360	return;	359	}
361		360
362	// Compass is off, skip.	361	// Compass is off, skip.
363	// Naaah this is assumed.	362	// Naaah this is assumed.
364	// if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE))	363	// if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE))
365	// return;	364	// return;
366		365
367	// Compass is invalid, skip.	366	// Compass is invalid, skip.
368	if (magneticHeading < 0)	367	if (magneticHeading < 0) {
-		368	debugOut.analog[29] = 2;
369	return;	369	return;
-		370	}
370		371
371	// Spinning fast, skip	372	// Spinning fast, skip
-		373	if (abs(yawRate) > 128) {
372	if (abs(yawRate) > 128)	374	debugOut.analog[29] = 3;
-		375	return;
373	return;	376	}
374		377
375	// Otherwise invalidated, skip	378	// Otherwise invalidated, skip
376	if (ignoreCompassTimer) {	379	if (ignoreCompassTimer) {
377	ignoreCompassTimer--;	380	ignoreCompassTimer--;
-		381	debugOut.analog[29] = 4;
378	return;	382	return;
379	}	383	}
380		384
381	// TODO: Find computational cost of this.	385	// TODO: Find computational cost of this.
382	error = (magneticHeading*GYRO_DEG_FACTOR_YAW - heading) % GYRO_DEG_FACTOR_YAW;	386	error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading);
-		387	if (error <= -YAWOVER180) error += YAWOVER360;
-		388	else if (error > YAWOVER180) error -= YAWOVER360;
383		389
384	// We only correct errors larger than the resolution of the compass, or else we would keep rounding the	390	// We only correct errors larger than the resolution of the compass, or else we would keep rounding the
385	// better resolution of the gyros to the worse resolution of the compass all the time.	391	// better resolution of the gyros to the worse resolution of the compass all the time.
386	// The correction should really only serve to compensate for gyro drift.	392	// The correction should really only serve to compensate for gyro drift.
387	if(abs(error) < GYRO_DEG_FACTOR_YAW) return;	393	if(abs(error) < GYRO_DEG_FACTOR_YAW) return;
388		394
-		395	int32_t correction = (error * staticParams.compassYawCorrection) >> 8;
389	int32_t correction = (error * (int32_t)dynamicParams.compassYawEffect) >> 8;	396	debugOut.analog[30] = correction;
390		397
391	// The correction is added both to current heading (the direction in which the copter thinks it is pointing)	398	// The correction is added both to current heading (the direction in which the copter thinks it is pointing)
392	// and to the target heading (the direction to which it maneuvers to point). That means, this correction has	399	// and to the target heading (the direction to which it maneuvers to point). That means, this correction has
393	// no effect on control at all!!! It only has effect on the values of the two variables. However, these values	400	// no effect on control at all!!! It only has effect on the values of the two variables. However, these values
394	// could have effect on control elsewhere, like in compassControl.c .	401	// could have effect on control elsewhere, like in compassControl.c .
395	heading += correction;	402	heading += correction;
396	intervalWrap(&heading, YAWOVER360);	403	intervalWrap(&heading, YAWOVER360);
-		404
-		405	// If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all
397		406	// when the compass corrects the heading - it only corrects numbers!) we want to add:
398	targetHeading += correction;	407	// This will however cause drift to remain uncorrected!
399	intervalWrap(&targetHeading, YAWOVER360);	-
400		408	// headingError += correction;
401	debugOut.digital[1] ^= DEBUG_COMPASS;	409	debugOut.analog[29] = 0;
402	}	410	}
403		411
404	/************************************************************************	412	/************************************************************************
405	* Main procedure.	413	* Main procedure.
406	************************************************************************/	414	************************************************************************/
407	void calculateFlightAttitude(void) {	415	void calculateFlightAttitude(void) {
408	getAnalogData();	416	getAnalogData();
409	calculateAccVector();	417	calculateAccVector();
410	integrate();	418	integrate();
411		419
412	#ifdef ATTITUDE_USE_ACC_SENSORS	420	#ifdef ATTITUDE_USE_ACC_SENSORS
413	correctIntegralsByAcc0thOrder();	421	correctIntegralsByAcc0thOrder();
414	driftCorrection();	422	driftCorrection();
415	#endif	423	#endif
416		424
417	// We are done reading variables from the analog module.	425	// We are done reading variables from the analog module.
418	// Interrupt-driven sensor reading may restart.	426	// Interrupt-driven sensor reading may restart.
419	startAnalogConversionCycle();	427	startAnalogConversionCycle();
420		428
421	if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {	429	if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {
422	correctHeadingToMagnetic();	430	correctHeadingToMagnetic();
423	}	431	}
424	}	432	}
425		433
426	/*	434	/*
427	* This is part of an experiment to measure average sensor offsets caused by motor vibration,	435	* This is part of an experiment to measure average sensor offsets caused by motor vibration,
428	* and to compensate them away. It brings about some improvement, but no miracles.	436	* and to compensate them away. It brings about some improvement, but no miracles.
429	* As long as the left stick is kept in the start-motors position, the dynamic compensation	437	* As long as the left stick is kept in the start-motors position, the dynamic compensation
430	* will measure the effect of vibration, to use for later compensation. So, one should keep	438	* will measure the effect of vibration, to use for later compensation. So, one should keep
431	* the stick in the start-motors position for a few seconds, till all motors run (at the wrong	439	* the stick in the start-motors position for a few seconds, till all motors run (at the wrong
432	* speed unfortunately... must find a better way)	440	* speed unfortunately... must find a better way)
433	*/	441	*/
434	/*	442	/*
435	void attitude_startDynamicCalibration(void) {	443	void attitude_startDynamicCalibration(void) {
436	dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;	444	dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
437	savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;	445	savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
438	}	446	}
439		447
440	void attitude_continueDynamicCalibration(void) {	448	void attitude_continueDynamicCalibration(void) {
441	// measure dynamic offset now...	449	// measure dynamic offset now...
442	dynamicCalPitch += hiResPitchGyro;	450	dynamicCalPitch += hiResPitchGyro;
443	dynamicCalRoll += hiResRollGyro;	451	dynamicCalRoll += hiResRollGyro;
444	dynamicCalYaw += rawYawGyroSum;	452	dynamicCalYaw += rawYawGyroSum;
445	dynamicCalCount++;	453	dynamicCalCount++;
446		454
447	// Param6: Manual mode. The offsets are taken from Param7 and Param8.	455	// Param6: Manual mode. The offsets are taken from Param7 and Param8.
448	if (dynamicParams.UserParam6 \|\| 1) { // currently always enabled.	456	if (dynamicParams.UserParam6 \|\| 1) { // currently always enabled.
449	// manual mode	457	// manual mode
450	driftCompPitch = dynamicParams.UserParam7 - 128;	458	driftCompPitch = dynamicParams.UserParam7 - 128;
451	driftCompRoll = dynamicParams.UserParam8 - 128;	459	driftCompRoll = dynamicParams.UserParam8 - 128;
452	} else {	460	} else {
453	// use the sampled value (does not seem to work so well....)	461	// use the sampled value (does not seem to work so well....)
454	driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;	462	driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
455	driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;	463	driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
456	driftCompYaw = -dynamicCalYaw / dynamicCalCount;	464	driftCompYaw = -dynamicCalYaw / dynamicCalCount;
457	}	465	}
458		466
459	// keep resetting these meanwhile, to avoid accumulating errors.	467	// keep resetting these meanwhile, to avoid accumulating errors.
460	setStaticAttitudeIntegrals();	468	setStaticAttitudeIntegrals();
461	yawAngle = 0;	469	yawAngle = 0;
462	}	470	}
463	*/	471	*/
464		472

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/attitude.c - Rev 2048 → 2051