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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 f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und 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 Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt 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 example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: 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 |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
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 | // For scope debugging only! |
62 | // For scope debugging only! |
63 | #include "rc.h" |
63 | #include "rc.h" |
64 | 64 | ||
65 | // where our main data flow comes from. |
65 | // where our main data flow comes from. |
66 | #include "analog.h" |
66 | #include "analog.h" |
67 | 67 | ||
68 | #include "configuration.h" |
68 | #include "configuration.h" |
69 | #include "output.h" |
69 | #include "output.h" |
70 | 70 | ||
71 | // Some calculations are performed depending on some stick related things. |
71 | // Some calculations are performed depending on some stick related things. |
72 | #include "controlMixer.h" |
72 | #include "controlMixer.h" |
73 | 73 | ||
74 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
74 | #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
75 | 75 | ||
76 | /* |
76 | /* |
77 | * Gyro readings, as read from the analog module. It would have been nice to flow |
77 | * Gyro readings, as read from the analog module. It would have been nice to flow |
78 | * them around between the different calculations as a struct or array (doing |
78 | * them around between the different calculations as a struct or array (doing |
79 | * things functionally without side effects) but this is shorter and probably |
79 | * things functionally without side effects) but this is shorter and probably |
80 | * faster too. |
80 | * faster too. |
81 | * The variables are overwritten at each attitude calculation invocation - the values |
81 | * The variables are overwritten at each attitude calculation invocation - the values |
82 | * are not preserved or reused. |
82 | * are not preserved or reused. |
83 | */ |
83 | */ |
84 | int16_t rate_ATT[2], yawRate; |
84 | int16_t rate_ATT[2], yawRate; |
85 | 85 | ||
86 | // With different (less) filtering |
86 | // With different (less) filtering |
87 | int16_t rate_PID[2]; |
87 | int16_t rate_PID[2]; |
88 | int16_t differential[2]; |
88 | int16_t differential[2]; |
89 | 89 | ||
90 | /* |
90 | /* |
91 | * Gyro readings, after performing "axis coupling" - that is, the transfomation |
91 | * Gyro readings, after performing "axis coupling" - that is, the transfomation |
92 | * of rotation rates from the airframe-local coordinate system to a ground-fixed |
92 | * of rotation rates from the airframe-local coordinate system to a ground-fixed |
93 | * coordinate system. If axis copling is disabled, the gyro readings will be |
93 | * coordinate system. If axis copling is disabled, the gyro readings will be |
94 | * copied into these directly. |
94 | * copied into these directly. |
95 | * These are global for the same pragmatic reason as with the gyro readings. |
95 | * These are global for the same pragmatic reason as with the gyro readings. |
96 | * The variables are overwritten at each attitude calculation invocation - the values |
96 | * The variables are overwritten at each attitude calculation invocation - the values |
97 | * are not preserved or reused. |
97 | * are not preserved or reused. |
98 | */ |
98 | */ |
99 | int16_t ACRate[2], ACYawRate; |
99 | int16_t ACRate[2], ACYawRate; |
100 | 100 | ||
101 | /* |
101 | /* |
102 | * Gyro integrals. These are the rotation angles of the airframe compared to the |
102 | * Gyro integrals. These are the rotation angles of the airframe compared to the |
103 | * horizontal plane, yaw relative to yaw at start. |
103 | * horizontal plane, yaw relative to yaw at start. |
104 | */ |
104 | */ |
105 | int32_t angle[2], yawAngleDiff; |
105 | int32_t angle[2], yawAngleDiff; |
106 | 106 | ||
107 | int readingHeight = 0; |
107 | int readingHeight = 0; |
108 | 108 | ||
109 | // Yaw angle and compass stuff. |
109 | // Yaw angle and compass stuff. |
110 | 110 | ||
111 | // This is updated/written from MM3. Negative angle indicates invalid data. |
111 | // This is updated/written from MM3. Negative angle indicates invalid data. |
112 | int16_t compassHeading = -1; |
112 | int16_t compassHeading = -1; |
113 | 113 | ||
114 | // This is NOT updated from MM3. Negative angle indicates invalid data. |
114 | // This is NOT updated from MM3. Negative angle indicates invalid data. |
115 | int16_t compassCourse = -1; |
115 | int16_t compassCourse = -1; |
116 | 116 | ||
117 | // The difference between the above 2 (heading - course) on a -180..179 degree interval. |
117 | // The difference between the above 2 (heading - course) on a -180..179 degree interval. |
118 | // Not necessary. Never read anywhere. |
118 | // Not necessary. Never read anywhere. |
119 | // int16_t compassOffCourse = 0; |
119 | // int16_t compassOffCourse = 0; |
120 | 120 | ||
121 | uint8_t updateCompassCourse = 0; |
121 | uint8_t updateCompassCourse = 0; |
122 | uint8_t compassCalState = 0; |
122 | uint8_t compassCalState = 0; |
123 | uint16_t ignoreCompassTimer = 500; |
123 | uint16_t ignoreCompassTimer = 500; |
124 | 124 | ||
125 | int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
125 | int32_t yawGyroHeading; // Yaw Gyro Integral supported by compass |
126 | int16_t yawGyroDrift; |
126 | int16_t yawGyroDrift; |
127 | 127 | ||
128 | #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
128 | #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L) |
129 | #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
129 | #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L) |
130 | #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
130 | #define YAWOVER360 (GYRO_DEG_FACTOR_YAW * 360L) |
131 | 131 | ||
132 | int16_t correctionSum[2] = { 0, 0 }; |
132 | int16_t correctionSum[2] = { 0, 0 }; |
133 | 133 | ||
134 | // For NaviCTRL use. |
134 | // For NaviCTRL use. |
135 | int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
135 | int16_t averageAcc[2] = { 0, 0 }, averageAccCount = 0; |
136 | 136 | ||
137 | /* |
137 | /* |
138 | * Experiment: Compensating for dynamic-induced gyro biasing. |
138 | * Experiment: Compensating for dynamic-induced gyro biasing. |
139 | */ |
139 | */ |
140 | int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0; |
140 | int16_t driftComp[2] = { 0, 0 }, driftCompYaw = 0; |
141 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
141 | // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0; |
142 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
142 | // int32_t dynamicCalPitch, dynamicCalRoll, dynamicCalYaw; |
143 | // int16_t dynamicCalCount; |
143 | // int16_t dynamicCalCount; |
144 | 144 | ||
145 | uint16_t accVector; |
145 | uint16_t accVector; |
146 | 146 | ||
147 | /************************************************************************ |
147 | /************************************************************************ |
148 | * Set inclination angles from the acc. sensor data. |
148 | * Set inclination angles from the acc. sensor data. |
149 | * If acc. sensors are not used, set to zero. |
149 | * If acc. sensors are not used, set to zero. |
150 | * TODO: One could use inverse sine to calculate the angles more |
150 | * TODO: One could use inverse sine to calculate the angles more |
151 | * accurately, but since: 1) the angles are rather small at times when |
151 | * accurately, but since: 1) the angles are rather small at times when |
152 | * it makes sense to set the integrals (standing on ground, or flying at |
152 | * it makes sense to set the integrals (standing on ground, or flying at |
153 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
153 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
154 | * it is hardly worth the trouble. |
154 | * it is hardly worth the trouble. |
155 | ************************************************************************/ |
155 | ************************************************************************/ |
156 | 156 | ||
157 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
157 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
158 | int16_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 512; |
158 | int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
159 | return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis] + correctionTerm; |
159 | return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis] + correctionTerm; |
160 | } |
160 | } |
161 | 161 | ||
162 | void setStaticAttitudeAngles(void) { |
162 | void setStaticAttitudeAngles(void) { |
163 | #ifdef ATTITUDE_USE_ACC_SENSORS |
163 | #ifdef ATTITUDE_USE_ACC_SENSORS |
164 | angle[PITCH] = getAngleEstimateFromAcc(PITCH); |
164 | angle[PITCH] = getAngleEstimateFromAcc(PITCH); |
165 | angle[ROLL] = getAngleEstimateFromAcc(ROLL); |
165 | angle[ROLL] = getAngleEstimateFromAcc(ROLL); |
166 | #else |
166 | #else |
167 | angle[PITCH] = angle[ROLL] = 0; |
167 | angle[PITCH] = angle[ROLL] = 0; |
168 | #endif |
168 | #endif |
169 | } |
169 | } |
170 | 170 | ||
171 | /************************************************************************ |
171 | /************************************************************************ |
172 | * Neutral Readings |
172 | * Neutral Readings |
173 | ************************************************************************/ |
173 | ************************************************************************/ |
174 | void attitude_setNeutral(void) { |
174 | void attitude_setNeutral(void) { |
175 | // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
175 | // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway. |
176 | dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0; |
176 | dynamicParams.axisCoupling1 = dynamicParams.axisCoupling2 = 0; |
177 | 177 | ||
178 | driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
178 | driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0; |
179 | correctionSum[PITCH] = correctionSum[ROLL] = 0; |
179 | correctionSum[PITCH] = correctionSum[ROLL] = 0; |
180 | 180 | ||
181 | // Calibrate hardware. |
181 | // Calibrate hardware. |
182 | analog_setNeutral(); |
182 | analog_setNeutral(); |
183 | 183 | ||
184 | // reset gyro integrals to acc guessing |
184 | // reset gyro integrals to acc guessing |
185 | setStaticAttitudeAngles(); |
185 | setStaticAttitudeAngles(); |
186 | yawAngleDiff = 0; |
186 | yawAngleDiff = 0; |
187 | 187 | ||
188 | // update compass course to current heading |
188 | // update compass course to current heading |
189 | compassCourse = compassHeading; |
189 | compassCourse = compassHeading; |
190 | 190 | ||
191 | // Inititialize YawGyroIntegral value with current compass heading |
191 | // Inititialize YawGyroIntegral value with current compass heading |
192 | yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
192 | yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
193 | 193 | ||
194 | // Servo_On(); //enable servo output |
194 | // Servo_On(); //enable servo output |
195 | } |
195 | } |
196 | 196 | ||
197 | /************************************************************************ |
197 | /************************************************************************ |
198 | * Get sensor data from the analog module, and release the ADC |
198 | * Get sensor data from the analog module, and release the ADC |
199 | * TODO: Ultimately, the analog module could do this (instead of dumping |
199 | * TODO: Ultimately, the analog module could do this (instead of dumping |
200 | * the values into variables). |
200 | * the values into variables). |
201 | * The rate variable end up in a range of about [-1024, 1023]. |
201 | * The rate variable end up in a range of about [-1024, 1023]. |
202 | *************************************************************************/ |
202 | *************************************************************************/ |
203 | void getAnalogData(void) { |
203 | void getAnalogData(void) { |
204 | uint8_t axis; |
204 | uint8_t axis; |
205 | 205 | ||
206 | analog_update(); |
206 | analog_update(); |
207 | 207 | ||
208 | for (axis = PITCH; axis <= ROLL; axis++) { |
208 | for (axis = PITCH; axis <= ROLL; axis++) { |
209 | rate_PID[axis] = gyro_PID[axis] + driftComp[axis]; |
209 | rate_PID[axis] = gyro_PID[axis] + driftComp[axis]; |
210 | rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis]; |
210 | rate_ATT[axis] = gyro_ATT[axis] + driftComp[axis]; |
211 | differential[axis] = gyroD[axis]; |
211 | differential[axis] = gyroD[axis]; |
212 | averageAcc[axis] += acc[axis]; |
212 | averageAcc[axis] += acc[axis]; |
213 | } |
213 | } |
214 | 214 | ||
215 | averageAccCount++; |
215 | averageAccCount++; |
216 | yawRate = yawGyro + driftCompYaw; |
216 | yawRate = yawGyro + driftCompYaw; |
217 | 217 | ||
218 | // We are done reading variables from the analog module. |
218 | // We are done reading variables from the analog module. |
219 | // Interrupt-driven sensor reading may restart. |
219 | // Interrupt-driven sensor reading may restart. |
220 | startAnalogConversionCycle(); |
220 | startAnalogConversionCycle(); |
221 | } |
221 | } |
222 | 222 | ||
223 | /* |
223 | /* |
224 | * This is the standard flight-style coordinate system transformation |
224 | * This is the standard flight-style coordinate system transformation |
225 | * (from airframe-local axes to a ground-based system). For some reason |
225 | * (from airframe-local axes to a ground-based system). For some reason |
226 | * the MK uses a left-hand coordinate system. The tranformation has been |
226 | * the MK uses a left-hand coordinate system. The tranformation has been |
227 | * changed accordingly. |
227 | * changed accordingly. |
228 | */ |
228 | */ |
229 | void trigAxisCoupling(void) { |
229 | void trigAxisCoupling(void) { |
230 | int16_t cospitch = int_cos(angle[PITCH]); |
230 | int16_t cospitch = int_cos(angle[PITCH]); |
231 | int16_t cosroll = int_cos(angle[ROLL]); |
231 | int16_t cosroll = int_cos(angle[ROLL]); |
232 | int16_t sinroll = int_sin(angle[ROLL]); |
232 | int16_t sinroll = int_sin(angle[ROLL]); |
233 | 233 | ||
234 | ACRate[PITCH] = (((int32_t)rate_ATT[PITCH] * cosroll - (int32_t)yawRate |
234 | ACRate[PITCH] = (((int32_t)rate_ATT[PITCH] * cosroll - (int32_t)yawRate |
235 | * sinroll) >> MATH_UNIT_FACTOR_LOG); |
235 | * sinroll) >> MATH_UNIT_FACTOR_LOG); |
236 | 236 | ||
237 | ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll |
237 | ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll |
238 | + (int32_t)yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * int_tan( |
238 | + (int32_t)yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * int_tan( |
239 | angle[PITCH])) >> MATH_UNIT_FACTOR_LOG); |
239 | angle[PITCH])) >> MATH_UNIT_FACTOR_LOG); |
240 | 240 | ||
241 | ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
241 | ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
242 | 242 | ||
243 | ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
243 | ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
244 | } |
244 | } |
245 | 245 | ||
246 | // 480 usec with axis coupling - almost no time without. |
246 | // 480 usec with axis coupling - almost no time without. |
247 | void integrate(void) { |
247 | void integrate(void) { |
248 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
248 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
249 | uint8_t axis; |
249 | uint8_t axis; |
250 | 250 | ||
251 | if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) { |
251 | if (staticParams.bitConfig & CFG_AXIS_COUPLING_ACTIVE) { |
252 | trigAxisCoupling(); |
252 | trigAxisCoupling(); |
253 | } else { |
253 | } else { |
254 | ACRate[PITCH] = rate_ATT[PITCH]; |
254 | ACRate[PITCH] = rate_ATT[PITCH]; |
255 | ACRate[ROLL] = rate_ATT[ROLL]; |
255 | ACRate[ROLL] = rate_ATT[ROLL]; |
256 | ACYawRate = yawRate; |
256 | ACYawRate = yawRate; |
257 | } |
257 | } |
258 | 258 | ||
259 | /* |
259 | /* |
260 | * Yaw |
260 | * Yaw |
261 | * Calculate yaw gyro integral (~ to rotation angle) |
261 | * Calculate yaw gyro integral (~ to rotation angle) |
262 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
262 | * Limit yawGyroHeading proportional to 0 deg to 360 deg |
263 | */ |
263 | */ |
264 | yawGyroHeading += ACYawRate; |
264 | yawGyroHeading += ACYawRate; |
265 | yawAngleDiff += yawRate; |
265 | yawAngleDiff += yawRate; |
266 | 266 | ||
267 | if (yawGyroHeading >= YAWOVER360) { |
267 | if (yawGyroHeading >= YAWOVER360) { |
268 | yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
268 | yawGyroHeading -= YAWOVER360; // 360 deg. wrap |
269 | } else if (yawGyroHeading < 0) { |
269 | } else if (yawGyroHeading < 0) { |
270 | yawGyroHeading += YAWOVER360; |
270 | yawGyroHeading += YAWOVER360; |
271 | } |
271 | } |
272 | 272 | ||
273 | /* |
273 | /* |
274 | * Pitch axis integration and range boundary wrap. |
274 | * Pitch axis integration and range boundary wrap. |
275 | */ |
275 | */ |
276 | for (axis = PITCH; axis <= ROLL; axis++) { |
276 | for (axis = PITCH; axis <= ROLL; axis++) { |
277 | angle[axis] += ACRate[axis]; |
277 | angle[axis] += ACRate[axis]; |
278 | if (angle[axis] > PITCHROLLOVER180) { |
278 | if (angle[axis] > PITCHROLLOVER180) { |
279 | angle[axis] -= PITCHROLLOVER360; |
279 | angle[axis] -= PITCHROLLOVER360; |
280 | } else if (angle[axis] <= -PITCHROLLOVER180) { |
280 | } else if (angle[axis] <= -PITCHROLLOVER180) { |
281 | angle[axis] += PITCHROLLOVER360; |
281 | angle[axis] += PITCHROLLOVER360; |
282 | } |
282 | } |
283 | } |
283 | } |
284 | } |
284 | } |
285 | 285 | ||
286 | /************************************************************************ |
286 | /************************************************************************ |
287 | * A kind of 0'th order integral correction, that corrects the integrals |
287 | * A kind of 0'th order integral correction, that corrects the integrals |
288 | * directly. This is the "gyroAccFactor" stuff in the original code. |
288 | * directly. This is the "gyroAccFactor" stuff in the original code. |
289 | * There is (there) also a drift compensation |
289 | * There is (there) also a drift compensation |
290 | * - it corrects the differential of the integral = the gyro offsets. |
290 | * - it corrects the differential of the integral = the gyro offsets. |
291 | * That should only be necessary with drifty gyros like ENC-03. |
291 | * That should only be necessary with drifty gyros like ENC-03. |
292 | ************************************************************************/ |
292 | ************************************************************************/ |
293 | void correctIntegralsByAcc0thOrder(void) { |
293 | void correctIntegralsByAcc0thOrder(void) { |
294 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
294 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
295 | // are less than ....., or reintroduce Kalman. |
295 | // are less than ....., or reintroduce Kalman. |
296 | // Well actually the Z axis acc. check is not so silly. |
296 | // Well actually the Z axis acc. check is not so silly. |
297 | uint8_t axis; |
297 | uint8_t axis; |
298 | int32_t temp; |
298 | int32_t temp; |
299 | 299 | ||
300 | uint8_t ca = controlActivity >> 8; |
300 | uint8_t ca = controlActivity >> 8; |
301 | uint8_t highControlActivity = (ca > staticParams.maxControlActivity); |
301 | uint8_t highControlActivity = (ca > staticParams.maxControlActivity); |
302 | 302 | ||
303 | if (highControlActivity) { |
303 | if (highControlActivity) { |
304 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
304 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
305 | } else { |
305 | } else { |
306 | debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
306 | debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
307 | } |
307 | } |
308 | 308 | ||
309 | if (accVector <= dynamicParams.maxAccVector) { |
309 | if (accVector <= dynamicParams.maxAccVector) { |
310 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
310 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
311 | 311 | ||
312 | uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
312 | uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
313 | int32_t accDerived; |
313 | int32_t accDerived; |
314 | 314 | ||
315 | /* |
315 | /* |
316 | if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
316 | if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
317 | permilleAcc /= 2; |
317 | permilleAcc /= 2; |
318 | debugFullWeight = 0; |
318 | debugFullWeight = 0; |
319 | } |
319 | } |
320 | 320 | ||
321 | if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
321 | if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
322 | permilleAcc /= 2; |
322 | permilleAcc /= 2; |
323 | debugFullWeight = 0; |
323 | debugFullWeight = 0; |
324 | */ |
324 | */ |
325 | 325 | ||
326 | if (highControlActivity) { // reduce effect during stick control activity |
326 | if (highControlActivity) { // reduce effect during stick control activity |
327 | permilleAcc /= 4; |
327 | permilleAcc /= 4; |
328 | if (controlActivity > staticParams.maxControlActivity*2) { // reduce effect during stick control activity |
328 | if (controlActivity > staticParams.maxControlActivity*2) { // reduce effect during stick control activity |
329 | permilleAcc /= 4; |
329 | permilleAcc /= 4; |
330 | } |
330 | } |
331 | } |
331 | } |
332 | 332 | ||
333 | /* |
333 | /* |
334 | * Add to each sum: The amount by which the angle is changed just below. |
334 | * Add to each sum: The amount by which the angle is changed just below. |
335 | */ |
335 | */ |
336 | for (axis = PITCH; axis <= ROLL; axis++) { |
336 | for (axis = PITCH; axis <= ROLL; axis++) { |
337 | accDerived = getAngleEstimateFromAcc(axis); |
337 | accDerived = getAngleEstimateFromAcc(axis); |
338 | debugOut.analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL; |
338 | debugOut.analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL; |
339 | 339 | ||
340 | // 1000 * the correction amount that will be added to the gyro angle in next line. |
340 | // 1000 * the correction amount that will be added to the gyro angle in next line. |
341 | temp = angle[axis]; |
341 | temp = angle[axis]; |
342 | angle[axis] = ((int32_t) (1000L - permilleAcc) * temp |
342 | angle[axis] = ((int32_t) (1000L - permilleAcc) * temp |
343 | + (int32_t) permilleAcc * accDerived) / 1000L; |
343 | + (int32_t) permilleAcc * accDerived) / 1000L; |
344 | correctionSum[axis] += angle[axis] - temp; |
344 | correctionSum[axis] += angle[axis] - temp; |
345 | } |
345 | } |
346 | } else { |
346 | } else { |
347 | debugOut.analog[9] = 0; |
347 | debugOut.analog[9] = 0; |
348 | debugOut.analog[10] = 0; |
348 | debugOut.analog[10] = 0; |
349 | // experiment: Kill drift compensation updates when not flying smooth. |
349 | // experiment: Kill drift compensation updates when not flying smooth. |
350 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
350 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
351 | debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
351 | debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
352 | } |
352 | } |
353 | } |
353 | } |
354 | 354 | ||
355 | /************************************************************************ |
355 | /************************************************************************ |
356 | * This is an attempt to correct not the error in the angle integrals |
356 | * This is an attempt to correct not the error in the angle integrals |
357 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
357 | * (that happens in correctIntegralsByAcc0thOrder above) but rather the |
358 | * cause of it: Gyro drift, vibration and rounding errors. |
358 | * cause of it: Gyro drift, vibration and rounding errors. |
359 | * All the corrections made in correctIntegralsByAcc0thOrder over |
359 | * All the corrections made in correctIntegralsByAcc0thOrder over |
360 | * DRIFTCORRECTION_TIME cycles are summed up. This number is |
360 | * DRIFTCORRECTION_TIME cycles are summed up. This number is |
361 | * then divided by DRIFTCORRECTION_TIME to get the approx. |
361 | * then divided by DRIFTCORRECTION_TIME to get the approx. |
362 | * correction that should have been applied to each iteration to fix |
362 | * correction that should have been applied to each iteration to fix |
363 | * the error. This is then added to the dynamic offsets. |
363 | * the error. This is then added to the dynamic offsets. |
364 | ************************************************************************/ |
364 | ************************************************************************/ |
365 | // 2 times / sec. = 488/2 |
365 | // 2 times / sec. = 488/2 |
366 | #define DRIFTCORRECTION_TIME 256L |
366 | #define DRIFTCORRECTION_TIME 256L |
367 | void driftCorrection(void) { |
367 | void driftCorrection(void) { |
368 | static int16_t timer = DRIFTCORRECTION_TIME; |
368 | static int16_t timer = DRIFTCORRECTION_TIME; |
369 | int16_t deltaCorrection; |
369 | int16_t deltaCorrection; |
370 | int16_t round; |
370 | int16_t round; |
371 | uint8_t axis; |
371 | uint8_t axis; |
372 | 372 | ||
373 | if (!--timer) { |
373 | if (!--timer) { |
374 | timer = DRIFTCORRECTION_TIME; |
374 | timer = DRIFTCORRECTION_TIME; |
375 | for (axis = PITCH; axis <= ROLL; axis++) { |
375 | for (axis = PITCH; axis <= ROLL; axis++) { |
376 | // Take the sum of corrections applied, add it to delta |
376 | // Take the sum of corrections applied, add it to delta |
377 | if (correctionSum[axis] >=0) |
377 | if (correctionSum[axis] >=0) |
378 | round = DRIFTCORRECTION_TIME / 2; |
378 | round = DRIFTCORRECTION_TIME / 2; |
379 | else |
379 | else |
380 | round = -DRIFTCORRECTION_TIME / 2; |
380 | round = -DRIFTCORRECTION_TIME / 2; |
381 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
381 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
382 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
382 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
383 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
383 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
384 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
384 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
385 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
385 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
386 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
386 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
387 | debugOut.analog[28 + axis] = driftComp[axis]; |
387 | debugOut.analog[28 + axis] = driftComp[axis]; |
388 | 388 | ||
389 | correctionSum[axis] = 0; |
389 | correctionSum[axis] = 0; |
390 | } |
390 | } |
391 | } |
391 | } |
392 | } |
392 | } |
393 | 393 | ||
394 | void calculateAccVector(void) { |
394 | void calculateAccVector(void) { |
395 | uint16_t temp; |
395 | uint16_t temp; |
396 | temp = filteredAcc[0]/4; |
396 | temp = filteredAcc[0]/4; |
397 | accVector = temp * temp; |
397 | accVector = temp * temp; |
398 | temp = filteredAcc[1]/4; |
398 | temp = filteredAcc[1]/4; |
399 | accVector += temp * temp; |
399 | accVector += temp * temp; |
400 | temp = filteredAcc[2]/4; |
400 | temp = filteredAcc[2]/4; |
401 | accVector += temp * temp; |
401 | accVector += temp * temp; |
402 | debugOut.analog[18] = accVector; |
402 | debugOut.analog[18] = accVector; |
403 | debugOut.analog[19] = dynamicParams.maxAccVector; |
403 | debugOut.analog[19] = dynamicParams.maxAccVector; |
404 | } |
404 | } |
405 | 405 | ||
406 | /************************************************************************ |
406 | /************************************************************************ |
407 | * Main procedure. |
407 | * Main procedure. |
408 | ************************************************************************/ |
408 | ************************************************************************/ |
409 | void calculateFlightAttitude(void) { |
409 | void calculateFlightAttitude(void) { |
410 | getAnalogData(); |
410 | getAnalogData(); |
411 | calculateAccVector(); |
411 | calculateAccVector(); |
412 | integrate(); |
412 | integrate(); |
413 | 413 | ||
414 | #ifdef ATTITUDE_USE_ACC_SENSORS |
414 | #ifdef ATTITUDE_USE_ACC_SENSORS |
415 | correctIntegralsByAcc0thOrder(); |
415 | correctIntegralsByAcc0thOrder(); |
416 | driftCorrection(); |
416 | driftCorrection(); |
417 | #endif |
417 | #endif |
418 | } |
418 | } |
419 | 419 | ||
420 | void updateCompass(void) { |
420 | void updateCompass(void) { |
421 | int16_t w, v, r, correction, error; |
421 | int16_t w, v, r, correction, error; |
422 | 422 | ||
423 | if (compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
423 | if (compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) { |
424 | if (controlMixer_testCompassCalState()) { |
424 | if (controlMixer_testCompassCalState()) { |
425 | compassCalState++; |
425 | compassCalState++; |
426 | if (compassCalState < 5) |
426 | if (compassCalState < 5) |
427 | beepNumber(compassCalState); |
427 | beepNumber(compassCalState); |
428 | else |
428 | else |
429 | beep(1000); |
429 | beep(1000); |
430 | } |
430 | } |
431 | } else { |
431 | } else { |
432 | // get maximum attitude angle |
432 | // get maximum attitude angle |
433 | w = abs(angle[PITCH] / 512); |
433 | w = abs(angle[PITCH] / 512); |
434 | v = abs(angle[ROLL] / 512); |
434 | v = abs(angle[ROLL] / 512); |
435 | if (v > w) |
435 | if (v > w) |
436 | w = v; |
436 | w = v; |
437 | correction = w / 8 + 1; |
437 | correction = w / 8 + 1; |
438 | // calculate the deviation of the yaw gyro heading and the compass heading |
438 | // calculate the deviation of the yaw gyro heading and the compass heading |
439 | if (compassHeading < 0) |
439 | if (compassHeading < 0) |
440 | error = 0; // disable yaw drift compensation if compass heading is undefined |
440 | error = 0; // disable yaw drift compensation if compass heading is undefined |
441 | else if (abs(yawRate) > 128) { // spinning fast |
441 | else if (abs(yawRate) > 128) { // spinning fast |
442 | error = 0; |
442 | error = 0; |
443 | } else { |
443 | } else { |
444 | // compassHeading - yawGyroHeading, on a -180..179 deg interval. |
444 | // compassHeading - yawGyroHeading, on a -180..179 deg interval. |
445 | error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) |
445 | error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) |
446 | % 360) - 180; |
446 | % 360) - 180; |
447 | } |
447 | } |
448 | if (!ignoreCompassTimer && w < 25) { |
448 | if (!ignoreCompassTimer && w < 25) { |
449 | yawGyroDrift += error; |
449 | yawGyroDrift += error; |
450 | // Basically this gets set if we are in "fix" mode, and when starting. |
450 | // Basically this gets set if we are in "fix" mode, and when starting. |
451 | if (updateCompassCourse) { |
451 | if (updateCompassCourse) { |
452 | beep(200); |
452 | beep(200); |
453 | yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
453 | yawGyroHeading = (int32_t) compassHeading * GYRO_DEG_FACTOR_YAW; |
454 | compassCourse = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
454 | compassCourse = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW); |
455 | updateCompassCourse = 0; |
455 | updateCompassCourse = 0; |
456 | } |
456 | } |
457 | } |
457 | } |
458 | yawGyroHeading += (error * 8) / correction; |
458 | yawGyroHeading += (error * 8) / correction; |
459 | 459 | ||
460 | /* |
460 | /* |
461 | w = (w * dynamicParams.CompassYawEffect) / 32; |
461 | w = (w * dynamicParams.CompassYawEffect) / 32; |
462 | w = dynamicParams.CompassYawEffect - w; |
462 | w = dynamicParams.CompassYawEffect - w; |
463 | */ |
463 | */ |
464 | w = dynamicParams.compassYawEffect - (w * dynamicParams.compassYawEffect) |
464 | w = dynamicParams.compassYawEffect - (w * dynamicParams.compassYawEffect) |
465 | / 32; |
465 | / 32; |
466 | 466 | ||
467 | // As readable formula: |
467 | // As readable formula: |
468 | // w = dynamicParams.CompassYawEffect * (1-w/32); |
468 | // w = dynamicParams.CompassYawEffect * (1-w/32); |
469 | 469 | ||
470 | if (w >= 0) { // maxAttitudeAngle < 32 |
470 | if (w >= 0) { // maxAttitudeAngle < 32 |
471 | if (!ignoreCompassTimer) { |
471 | if (!ignoreCompassTimer) { |
472 | /*v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;*/ |
472 | /*v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;*/ |
473 | v = 64 + controlActivity / 100; |
473 | v = 64 + controlActivity / 100; |
474 | // yawGyroHeading - compassCourse on a -180..179 degree interval. |
474 | // yawGyroHeading - compassCourse on a -180..179 degree interval. |
475 | r |
475 | r |
476 | = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse) |
476 | = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse) |
477 | % 360) - 180; |
477 | % 360) - 180; |
478 | v = (r * w) / v; // align to compass course |
478 | v = (r * w) / v; // align to compass course |
479 | // limit yaw rate |
479 | // limit yaw rate |
480 | w = 3 * dynamicParams.compassYawEffect; |
480 | w = 3 * dynamicParams.compassYawEffect; |
481 | if (v > w) |
481 | if (v > w) |
482 | v = w; |
482 | v = w; |
483 | else if (v < -w) |
483 | else if (v < -w) |
484 | v = -w; |
484 | v = -w; |
485 | yawAngleDiff += v; |
485 | yawAngleDiff += v; |
486 | } else { // wait a while |
486 | } else { // wait a while |
487 | ignoreCompassTimer--; |
487 | ignoreCompassTimer--; |
488 | } |
488 | } |
489 | } else { // ignore compass at extreme attitudes for a while |
489 | } else { // ignore compass at extreme attitudes for a while |
490 | ignoreCompassTimer = 500; |
490 | ignoreCompassTimer = 500; |
491 | } |
491 | } |
492 | } |
492 | } |
493 | } |
493 | } |
494 | 494 | ||
495 | /* |
495 | /* |
496 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
496 | * This is part of an experiment to measure average sensor offsets caused by motor vibration, |
497 | * and to compensate them away. It brings about some improvement, but no miracles. |
497 | * and to compensate them away. It brings about some improvement, but no miracles. |
498 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
498 | * As long as the left stick is kept in the start-motors position, the dynamic compensation |
499 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
499 | * will measure the effect of vibration, to use for later compensation. So, one should keep |
500 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
500 | * the stick in the start-motors position for a few seconds, till all motors run (at the wrong |
501 | * speed unfortunately... must find a better way) |
501 | * speed unfortunately... must find a better way) |
502 | */ |
502 | */ |
503 | /* |
503 | /* |
504 | void attitude_startDynamicCalibration(void) { |
504 | void attitude_startDynamicCalibration(void) { |
505 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
505 | dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0; |
506 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
506 | savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000; |
507 | } |
507 | } |
508 | 508 | ||
509 | void attitude_continueDynamicCalibration(void) { |
509 | void attitude_continueDynamicCalibration(void) { |
510 | // measure dynamic offset now... |
510 | // measure dynamic offset now... |
511 | dynamicCalPitch += hiResPitchGyro; |
511 | dynamicCalPitch += hiResPitchGyro; |
512 | dynamicCalRoll += hiResRollGyro; |
512 | dynamicCalRoll += hiResRollGyro; |
513 | dynamicCalYaw += rawYawGyroSum; |
513 | dynamicCalYaw += rawYawGyroSum; |
514 | dynamicCalCount++; |
514 | dynamicCalCount++; |
515 | 515 | ||
516 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
516 | // Param6: Manual mode. The offsets are taken from Param7 and Param8. |
517 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
517 | if (dynamicParams.UserParam6 || 1) { // currently always enabled. |
518 | // manual mode |
518 | // manual mode |
519 | driftCompPitch = dynamicParams.UserParam7 - 128; |
519 | driftCompPitch = dynamicParams.UserParam7 - 128; |
520 | driftCompRoll = dynamicParams.UserParam8 - 128; |
520 | driftCompRoll = dynamicParams.UserParam8 - 128; |
521 | } else { |
521 | } else { |
522 | // use the sampled value (does not seem to work so well....) |
522 | // use the sampled value (does not seem to work so well....) |
523 | driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
523 | driftCompPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount; |
524 | driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
524 | driftCompRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount; |
525 | driftCompYaw = -dynamicCalYaw / dynamicCalCount; |
525 | driftCompYaw = -dynamicCalYaw / dynamicCalCount; |
526 | } |
526 | } |
527 | 527 | ||
528 | // keep resetting these meanwhile, to avoid accumulating errors. |
528 | // keep resetting these meanwhile, to avoid accumulating errors. |
529 | setStaticAttitudeIntegrals(); |
529 | setStaticAttitudeIntegrals(); |
530 | yawAngle = 0; |
530 | yawAngle = 0; |
531 | } |
531 | } |
532 | */ |
532 | */ |
533 | 533 |