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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 | int32_t headingError; |
56 | int32_t headingError; |
57 | 57 | ||
58 | // 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. |
59 | // Not necessary. Never read anywhere. |
59 | // Not necessary. Never read anywhere. |
60 | // int16_t compassOffCourse = 0; |
60 | // int16_t compassOffCourse = 0; |
61 | 61 | ||
62 | uint16_t ignoreCompassTimer = 0;// 500; |
62 | uint16_t ignoreCompassTimer = 0;// 500; |
63 | 63 | ||
64 | int32_t heading; // Yaw Gyro Integral supported by compass |
64 | int32_t heading; // Yaw Gyro Integral supported by compass |
65 | int16_t yawGyroDrift; |
65 | int16_t yawGyroDrift; |
66 | 66 | ||
67 | int16_t correctionSum[2] = { 0, 0 }; |
67 | int16_t correctionSum[2] = { 0, 0 }; |
68 | 68 | ||
69 | // For NaviCTRL use. |
69 | // For NaviCTRL use. |
70 | int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
70 | int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
71 | 71 | ||
72 | /* |
72 | /* |
73 | * Experiment: Compensating for dynamic-induced gyro biasing. |
73 | * Experiment: Compensating for dynamic-induced gyro biasing. |
74 | */ |
74 | */ |
75 | int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0; |
75 | int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0; |
76 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
76 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
77 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
77 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
78 | // int16_t dynamicCalCount; |
78 | // int16_t dynamicCalCount; |
79 | 79 | ||
80 | uint16_t accVector; |
80 | uint16_t accVector; |
81 | 81 | ||
82 | /************************************************************************ |
82 | /************************************************************************ |
83 | * Set inclination angles from the acc. sensor data. |
83 | * Set inclination angles from the acc. sensor data. |
84 | * If acc. sensors are not used, set to zero. |
84 | * If acc. sensors are not used, set to zero. |
85 | * TODO: One could use inverse sine to calculate the angles more |
85 | * TODO: One could use inverse sine to calculate the angles more |
86 | * 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 |
87 | * 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 |
88 | * 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, |
89 | * it is hardly worth the trouble. |
89 | * it is hardly worth the trouble. |
90 | ************************************************************************/ |
90 | ************************************************************************/ |
91 | 91 | ||
92 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
92 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
93 | //int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
93 | //int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
94 | return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm; |
94 | return (int32_t) GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis]; // + correctionTerm; |
95 | // return 342L * filteredAcc[axis]; |
95 | // return 342L * filteredAcc[axis]; |
96 | } |
96 | } |
97 | 97 | ||
98 | void setStaticAttitudeAngles(void) { |
98 | void setStaticAttitudeAngles(void) { |
99 | #ifdef ATTITUDE_USE_ACC_SENSORS |
99 | #ifdef ATTITUDE_USE_ACC_SENSORS |
100 | attitude[PITCH] = getAngleEstimateFromAcc(PITCH); |
100 | attitude[PITCH] = getAngleEstimateFromAcc(PITCH); |
101 | attitude[ROLL] = getAngleEstimateFromAcc(ROLL); |
101 | attitude[ROLL] = getAngleEstimateFromAcc(ROLL); |
102 | #else |
102 | #else |
103 | attitude[PITCH] = attitude[ROLL] = 0; |
103 | attitude[PITCH] = attitude[ROLL] = 0; |
104 | #endif |
104 | #endif |
105 | } |
105 | } |
106 | 106 | ||
107 | /************************************************************************ |
107 | /************************************************************************ |
108 | * Neutral Readings |
108 | * Neutral Readings |
109 | ************************************************************************/ |
109 | ************************************************************************/ |
110 | void attitude_setNeutral(void) { |
110 | void attitude_setNeutral(void) { |
111 | // 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. |
112 | // dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0; |
112 | // dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0; |
113 | 113 | ||
114 | driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
114 | driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
115 | correctionSum[PITCH] = correctionSum[ROLL] = 0; |
115 | correctionSum[PITCH] = correctionSum[ROLL] = 0; |
116 | 116 | ||
117 | // Calibrate hardware. |
117 | // Calibrate hardware. |
118 | analog_setNeutral(); |
118 | analog_setNeutral(); |
119 | 119 | ||
120 | // reset gyro integrals to acc guessing |
120 | // reset gyro integrals to acc guessing |
121 | setStaticAttitudeAngles(); |
121 | setStaticAttitudeAngles(); |
122 | #ifdef USE_MK3MAG |
122 | #ifdef USE_MK3MAG |
123 | attitude_resetHeadingToMagnetic(); |
123 | attitude_resetHeadingToMagnetic(); |
124 | #endif |
124 | #endif |
125 | // Servo_On(); //enable servo output |
125 | // Servo_On(); //enable servo output |
126 | } |
126 | } |
127 | 127 | ||
128 | /************************************************************************ |
128 | /************************************************************************ |
129 | * Get sensor data from the analog module, and release the ADC |
129 | * Get sensor data from the analog module, and release the ADC |
130 | * TODO: Ultimately, the analog module could do this (instead of dumping |
130 | * TODO: Ultimately, the analog module could do this (instead of dumping |
131 | * the values into variables). |
131 | * the values into variables). |
132 | * The rate variable end up in a range of about [-1024, 1023]. |
132 | * The rate variable end up in a range of about [-1024, 1023]. |
133 | *************************************************************************/ |
133 | *************************************************************************/ |
134 | void getAnalogData(void) { |
134 | void getAnalogData(void) { |
135 | uint8_t axis; |
135 | uint8_t axis; |
136 | 136 | ||
137 | analog_update(); |
137 | analog_update(); |
138 | 138 | ||
139 | for (axis = PITCH; axis <= ROLL; axis++) { |
139 | for (axis = PITCH; axis <= ROLL; axis++) { |
140 | rate_PID[axis] = gyro_PID[axis] + driftComp[axis]; |
140 | rate_PID[axis] = gyro_PID[axis] + driftComp[axis]; |
141 | rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis]; |
141 | rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis]; |
142 | differential[axis] = gyroD[axis]; |
142 | differential[axis] = gyroD[axis]; |
143 | averageAcc[axis] += acc[axis]; |
143 | averageAcc[axis] += acc[axis]; |
144 | } |
144 | } |
145 | 145 | ||
146 | averageAccCount++; |
146 | averageAccCount++; |
147 | yawRate = yawGyro + driftCompYaw; |
147 | yawRate = yawGyro + driftCompYaw; |
148 | } |
148 | } |
149 | 149 | ||
150 | /* |
150 | /* |
151 | * This is the standard flight-style coordinate system transformation |
151 | * This is the standard flight-style coordinate system transformation |
152 | * (from airframe-local axes to a ground-based system). For some reason |
152 | * (from airframe-local axes to a ground-based system). For some reason |
153 | * the MK uses a left-hand coordinate system. The tranformation has been |
153 | * the MK uses a left-hand coordinate system. The tranformation has been |
154 | * changed accordingly. |
154 | * changed accordingly. |
155 | */ |
155 | */ |
156 | void trigAxisCoupling(void) { |
156 | void trigAxisCoupling(void) { |
157 | int16_t rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL; |
157 | int16_t rollAngleInDegrees = attitude[ROLL] / GYRO_DEG_FACTOR_PITCHROLL; |
158 | int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL; |
158 | int16_t pitchAngleInDegrees = attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL; |
159 | 159 | ||
160 | int16_t cospitch = cos_360(pitchAngleInDegrees); |
160 | int16_t cospitch = cos_360(pitchAngleInDegrees); |
161 | int16_t cosroll = cos_360(rollAngleInDegrees); |
161 | int16_t cosroll = cos_360(rollAngleInDegrees); |
162 | int16_t sinroll = sin_360(rollAngleInDegrees); |
162 | int16_t sinroll = sin_360(rollAngleInDegrees); |
163 | 163 | ||
164 | ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll |
164 | ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll |
165 | - (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR); |
165 | - (int32_t) yawRate * sinroll) >> LOG_MATH_UNIT_FACTOR); |
166 | 166 | ||
167 | ACRate[ROLL] = rate_ATT[ROLL] |
167 | ACRate[ROLL] = rate_ATT[ROLL] |
168 | + (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
168 | + (((((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
169 | >> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees)) |
169 | >> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees)) |
170 | >> LOG_MATH_UNIT_FACTOR); |
170 | >> LOG_MATH_UNIT_FACTOR); |
171 | 171 | ||
172 | ACYawRate = |
172 | ACYawRate = |
173 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
173 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
174 | / cospitch; |
174 | / cospitch; |
175 | 175 | ||
176 | ACYawRate = |
176 | ACYawRate = |
177 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
177 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
178 | / cospitch; |
178 | / cospitch; |
179 | } |
179 | } |
180 | 180 | ||
181 | // 480 usec with axis coupling - almost no time without. |
181 | // 480 usec with axis coupling - almost no time without. |
182 | void integrate(void) { |
182 | void integrate(void) { |
183 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
183 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
184 | uint8_t axis; |
184 | uint8_t axis; |
185 | 185 | ||
186 | if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) { |
186 | if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) { |
187 | trigAxisCoupling(); |
187 | trigAxisCoupling(); |
188 | } else { |
188 | } else { |
189 | ACRate[PITCH] = rate_ATT[PITCH]; |
189 | ACRate[PITCH] = rate_ATT[PITCH]; |
190 | ACRate[ROLL] = rate_ATT[ROLL]; |
190 | ACRate[ROLL] = rate_ATT[ROLL]; |
191 | ACYawRate = yawRate; |
191 | ACYawRate = yawRate; |
192 | } |
192 | } |
193 | 193 | ||
194 | /* |
194 | /* |
195 | * Yaw |
195 | * Yaw |
196 | * Calculate yaw gyro integral (~ to rotation angle) |
196 | * Calculate yaw gyro integral (~ to rotation angle) |
197 | * Limit heading proportional to 0 deg to 360 deg |
197 | * Limit heading proportional to 0 deg to 360 deg |
198 | */ |
198 | */ |
199 | heading += ACYawRate; |
199 | heading += ACYawRate; |
200 | intervalWrap(&heading, YAWOVER360); |
200 | intervalWrap(&heading, YAWOVER360); |
201 | 201 | ||
202 | headingError += ACYawRate; |
202 | headingError += ACYawRate; |
203 | - | ||
204 | debugOut.analog[27] = heading / 100; |
- | |
205 | 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; |
- | |
280 | debugOut.analog[10] = 0; |
- | |
281 | // experiment: Kill drift compensation updates when not flying smooth. |
277 | // experiment: Kill drift compensation updates when not flying smooth. |
282 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
278 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
283 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
279 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
284 | } |
280 | } |
285 | } |
281 | } |
286 | 282 | ||
287 | /************************************************************************ |
283 | /************************************************************************ |
288 | * This is an attempt to correct not the error in the angle integrals |
284 | * This is an attempt to correct not the error in the angle integrals |
289 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
285 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
290 | * cause of it: Gyro drift, vibration and rounding errors. |
286 | * cause of it: Gyro drift, vibration and rounding errors. |
291 | * All the corrections made in correctIntegralsByAcc0thOrder over |
287 | * All the corrections made in correctIntegralsByAcc0thOrder over |
292 | * DRIFTCORRECTION_TIME cycles are summed up. This number is |
288 | * DRIFTCORRECTION_TIME cycles are summed up. This number is |
293 | * then divided by DRIFTCORRECTION_TIME to get the approx. |
289 | * then divided by DRIFTCORRECTION_TIME to get the approx. |
294 | * correction that should have been applied to each iteration to fix |
290 | * correction that should have been applied to each iteration to fix |
295 | * the error. This is then added to the dynamic offsets. |
291 | * the error. This is then added to the dynamic offsets. |
296 | ************************************************************************/ |
292 | ************************************************************************/ |
297 | // 2 times / sec. = 488/2 |
293 | // 2 times / sec. = 488/2 |
298 | #define DRIFTCORRECTION_TIME 256L |
294 | #define DRIFTCORRECTION_TIME 256L |
299 | void driftCorrection(void) { |
295 | void driftCorrection(void) { |
300 | static int16_t timer = DRIFTCORRECTION_TIME; |
296 | static int16_t timer = DRIFTCORRECTION_TIME; |
301 | int16_t deltaCorrection; |
297 | int16_t deltaCorrection; |
302 | int16_t round; |
298 | int16_t round; |
303 | uint8_t axis; |
299 | uint8_t axis; |
304 | 300 | ||
305 | if (!--timer) { |
301 | if (!--timer) { |
306 | timer = DRIFTCORRECTION_TIME; |
302 | timer = DRIFTCORRECTION_TIME; |
307 | for (axis = PITCH; axis <= ROLL; axis++) { |
303 | for (axis = PITCH; axis <= ROLL; axis++) { |
308 | // Take the sum of corrections applied, add it to delta |
304 | // Take the sum of corrections applied, add it to delta |
309 | if (correctionSum[axis] >= 0) |
305 | if (correctionSum[axis] >= 0) |
310 | round = DRIFTCORRECTION_TIME / 2; |
306 | round = DRIFTCORRECTION_TIME / 2; |
311 | else |
307 | else |
312 | round = -DRIFTCORRECTION_TIME / 2; |
308 | round = -DRIFTCORRECTION_TIME / 2; |
313 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
309 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
314 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
310 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
315 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
311 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
316 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
312 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
317 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
313 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
318 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
314 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
319 | // debugOut.analog[28 + axis] = driftComp[axis]; |
315 | // debugOut.analog[28 + axis] = driftComp[axis]; |
320 | correctionSum[axis] = 0; |
316 | correctionSum[axis] = 0; |
321 | } |
317 | } |
322 | } |
318 | } |
323 | } |
319 | } |
324 | 320 | ||
325 | void calculateAccVector(void) { |
321 | void calculateAccVector(void) { |
326 | int16_t temp; |
322 | int16_t temp; |
327 | temp = filteredAcc[0] >> 3; |
323 | temp = filteredAcc[0] >> 3; |
328 | accVector = temp * temp; |
324 | accVector = temp * temp; |
329 | temp = filteredAcc[1] >> 3; |
325 | temp = filteredAcc[1] >> 3; |
330 | accVector += temp * temp; |
326 | accVector += temp * temp; |
331 | temp = filteredAcc[2] >> 3; |
327 | temp = filteredAcc[2] >> 3; |
332 | accVector += temp * temp; |
328 | accVector += temp * temp; |
333 | //debugOut.analog[18] = accVector; |
329 | //debugOut.analog[18] = accVector; |
334 | } |
330 | } |
335 | 331 | ||
336 | #ifdef USE_MK3MAG |
332 | #ifdef USE_MK3MAG |
337 | void attitude_resetHeadingToMagnetic(void) { |
333 | void attitude_resetHeadingToMagnetic(void) { |
338 | if (commands_isCalibratingCompass()) |
334 | if (commands_isCalibratingCompass()) |
339 | return; |
335 | return; |
340 | 336 | ||
341 | // Compass is off, skip. |
337 | // Compass is off, skip. |
342 | if (!(staticParams.bitConfig & CFG_COMPASS_ENABLED)) |
338 | if (!(staticParams.bitConfig & CFG_COMPASS_ENABLED)) |
343 | return; |
339 | return; |
344 | 340 | ||
345 | // Compass is invalid, skip. |
341 | // Compass is invalid, skip. |
346 | if (magneticHeading < 0) |
342 | if (magneticHeading < 0) |
347 | return; |
343 | return; |
348 | 344 | ||
349 | heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
345 | heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW; |
350 | //targetHeading = heading; |
346 | //targetHeading = heading; |
351 | headingError = 0; |
347 | headingError = 0; |
352 | 348 | ||
353 | debugOut.digital[0] ^= DEBUG_COMPASS; |
349 | debugOut.digital[0] ^= DEBUG_COMPASS; |
354 | } |
350 | } |
355 | 351 | ||
356 | void correctHeadingToMagnetic(void) { |
352 | void correctHeadingToMagnetic(void) { |
357 | int32_t error; |
353 | int32_t error; |
358 | 354 | ||
359 | if (commands_isCalibratingCompass()) { |
355 | if (commands_isCalibratingCompass()) { |
360 | debugOut.analog[29] = 1; |
356 | //debugOut.analog[29] = 1; |
361 | return; |
357 | return; |
362 | } |
358 | } |
363 | 359 | ||
364 | // Compass is off, skip. |
360 | // Compass is off, skip. |
365 | // Naaah this is assumed. |
361 | // Naaah this is assumed. |
366 | // if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE)) |
362 | // if (!(staticParams.bitConfig & CFG_COMPASS_ACTIVE)) |
367 | // return; |
363 | // return; |
368 | 364 | ||
369 | // Compass is invalid, skip. |
365 | // Compass is invalid, skip. |
370 | if (magneticHeading < 0) { |
366 | if (magneticHeading < 0) { |
371 | debugOut.analog[29] = 2; |
367 | //debugOut.analog[29] = 2; |
372 | return; |
368 | return; |
373 | } |
369 | } |
374 | 370 | ||
375 | // Spinning fast, skip |
371 | // Spinning fast, skip |
376 | if (abs(yawRate) > 128) { |
372 | if (abs(yawRate) > 128) { |
377 | debugOut.analog[29] = 3; |
373 | //debugOut.analog[29] = 3; |
378 | return; |
374 | return; |
379 | } |
375 | } |
380 | 376 | ||
381 | // Otherwise invalidated, skip |
377 | // Otherwise invalidated, skip |
382 | if (ignoreCompassTimer) { |
378 | if (ignoreCompassTimer) { |
383 | ignoreCompassTimer--; |
379 | ignoreCompassTimer--; |
384 | debugOut.analog[29] = 4; |
380 | //debugOut.analog[29] = 4; |
385 | return; |
381 | return; |
386 | } |
382 | } |
387 | 383 | ||
388 | // TODO: Find computational cost of this. |
384 | // TODO: Find computational cost of this. |
389 | error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading); |
385 | error = ((int32_t)magneticHeading*GYRO_DEG_FACTOR_YAW - heading); |
390 | if (error <= -YAWOVER180) error += YAWOVER360; |
386 | if (error <= -YAWOVER180) error += YAWOVER360; |
391 | else if (error > YAWOVER180) error -= YAWOVER360; |
387 | else if (error > YAWOVER180) error -= YAWOVER360; |
392 | 388 | ||
393 | // We only correct errors larger than the resolution of the compass, or else we would keep rounding the |
389 | // We only correct errors larger than the resolution of the compass, or else we would keep rounding the |
394 | // better resolution of the gyros to the worse resolution of the compass all the time. |
390 | // better resolution of the gyros to the worse resolution of the compass all the time. |
395 | // The correction should really only serve to compensate for gyro drift. |
391 | // The correction should really only serve to compensate for gyro drift. |
396 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
392 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
397 | 393 | ||
398 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
394 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
399 | debugOut.analog[30] = correction; |
395 | //debugOut.analog[30] = correction; |
400 | 396 | ||
401 | // The correction is added both to current heading (the direction in which the copter thinks it is pointing) |
397 | // The correction is added both to current heading (the direction in which the copter thinks it is pointing) |
402 | // and to the target heading (the direction to which it maneuvers to point). That means, this correction has |
398 | // and to the target heading (the direction to which it maneuvers to point). That means, this correction has |
403 | // no effect on control at all!!! It only has effect on the values of the two variables. However, these values |
399 | // no effect on control at all!!! It only has effect on the values of the two variables. However, these values |
404 | // could have effect on control elsewhere, like in compassControl.c . |
400 | // could have effect on control elsewhere, like in compassControl.c . |
405 | heading += correction; |
401 | heading += correction; |
406 | intervalWrap(&heading, YAWOVER360); |
402 | intervalWrap(&heading, YAWOVER360); |
407 | 403 | ||
408 | // If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all |
404 | // If we want a transparent flight wrt. compass correction (meaning the copter does not change attitude all |
409 | // when the compass corrects the heading - it only corrects numbers!) we want to add: |
405 | // when the compass corrects the heading - it only corrects numbers!) we want to add: |
410 | // This will however cause drift to remain uncorrected! |
406 | // This will however cause drift to remain uncorrected! |
411 | // headingError += correction; |
407 | // headingError += correction; |
412 | debugOut.analog[29] = 0; |
408 | //debugOut.analog[29] = 0; |
413 | } |
409 | } |
414 | #endif |
410 | #endif |
415 | 411 | ||
416 | /************************************************************************ |
412 | /************************************************************************ |
417 | * Main procedure. |
413 | * Main procedure. |
418 | ************************************************************************/ |
414 | ************************************************************************/ |
419 | void calculateFlightAttitude(void) { |
415 | void calculateFlightAttitude(void) { |
420 | getAnalogData(); |
416 | getAnalogData(); |
421 | calculateAccVector(); |
417 | calculateAccVector(); |
422 | integrate(); |
418 | integrate(); |
423 | 419 | ||
424 | #ifdef ATTITUDE_USE_ACC_SENSORS |
420 | #ifdef ATTITUDE_USE_ACC_SENSORS |
425 | correctIntegralsByAcc0thOrder(); |
421 | correctIntegralsByAcc0thOrder(); |
426 | driftCorrection(); |
422 | driftCorrection(); |
427 | #endif |
423 | #endif |
428 | 424 | ||
429 | // We are done reading variables from the analog module. |
425 | // We are done reading variables from the analog module. |
430 | // Interrupt-driven sensor reading may restart. |
426 | // Interrupt-driven sensor reading may restart. |
431 | startAnalogConversionCycle(); |
427 | startAnalogConversionCycle(); |
432 | 428 | ||
433 | #ifdef USE_MK3MAG |
429 | #ifdef USE_MK3MAG |
434 | if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED)) { |
430 | if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED)) { |
435 | correctHeadingToMagnetic(); |
431 | correctHeadingToMagnetic(); |
436 | } |
432 | } |
437 | #endif |
433 | #endif |
438 | } |
434 | } |
439 | 435 | ||
440 | /* |
436 | /* |
441 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
437 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
442 | * and to compensate them away. It brings about some improvement, but no miracles. |
438 | * and to compensate them away. It brings about some improvement, but no miracles. |
443 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
439 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
444 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
440 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
445 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
441 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
446 | * speed unfortunately... must find a better way) |
442 | * speed unfortunately... must find a better way) |
447 | */ |
443 | */ |
448 | /* |
444 | /* |
449 | void attitude_startDynamicCalibration(void) { |
445 | void attitude_startDynamicCalibration(void) { |
450 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
446 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
451 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
447 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
452 | } |
448 | } |
453 | 449 | ||
454 | void attitude_continueDynamicCalibration(void) { |
450 | void attitude_continueDynamicCalibration(void) { |
455 | // measure dynamic offset now... |
451 | // measure dynamic offset now... |
456 | dynamicCalPitch += hiResPitchGyro; |
452 | dynamicCalPitch += hiResPitchGyro; |
457 | dynamicCalRoll += hiResRollGyro; |
453 | dynamicCalRoll += hiResRollGyro; |
458 | dynamicCalYaw += rawYawGyroSum; |
454 | dynamicCalYaw += rawYawGyroSum; |
459 | dynamicCalCount++; |
455 | dynamicCalCount++; |
460 | 456 | ||
461 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
457 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
462 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
458 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
463 | // manual mode |
459 | // manual mode |
464 | driftCompPitch = dynamicParams.UserParam7 - 128; |
460 | driftCompPitch = dynamicParams.UserParam7 - 128; |
465 | driftCompRoll = dynamicParams.UserParam8 - 128; |
461 | driftCompRoll = dynamicParams.UserParam8 - 128; |
466 | } else { |
462 | } else { |
467 | // use the sampled value (does not seem to work so well....) |
463 | // use the sampled value (does not seem to work so well....) |
468 | driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
464 | driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
469 | driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
465 | driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
470 | driftCompYaw = -dynamicCalYaw / dynamicCalCount; |
466 | driftCompYaw = -dynamicCalYaw / dynamicCalCount; |
471 | } |
467 | } |
472 | 468 | ||
473 | // keep resetting these meanwhile, to avoid accumulating errors. |
469 | // keep resetting these meanwhile, to avoid accumulating errors. |
474 | setStaticAttitudeIntegrals(); |
470 | setStaticAttitudeIntegrals(); |
475 | yawAngle = 0; |
471 | yawAngle = 0; |
476 | } |
472 | } |
477 | */ |
473 | */ |
478 | 474 |