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| Rev 1775 | Rev 1821 | ||
|---|---|---|---|
| 1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
| 2 | #include "attitude.h" |
2 | #include "attitude.h" |
| 3 | #include "uart0.h" |
3 | #include "uart0.h" |
| 4 | #include "configuration.h" |
4 | #include "configuration.h" |
| 5 | #include "dongfangMath.h" |
5 | #include "dongfangMath.h" |
| 6 | 6 | ||
| 7 | // For scope debugging only! |
7 | // For scope debugging only! |
| 8 | #include "rc.h" |
8 | #include "rc.h" |
| 9 | 9 | ||
| 10 | // = cos^2(45 degs). |
10 | // = cos^2(45 degs). |
| 11 | const int32_t MINPROJECTION = (int32_t)MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2; |
11 | const int32_t MINPROJECTION = (int32_t) MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2; |
| 12 | 12 | ||
| 13 | // Takes 380 - 400 usec. Way too slow. |
13 | // Takes 380 - 400 usec. Way too slow. |
| 14 | // With static MINPROJECTION: 220 usec. |
14 | // With static MINPROJECTION: 220 usec. |
| 15 | uint16_t AC_getThrottle(uint16_t throttle) { |
15 | uint16_t AC_getThrottle(uint16_t throttle) { |
| 16 | int32_t projection; |
16 | int32_t projection; |
| 17 | 17 | ||
| 18 | // part1 start: 150 usec |
18 | // part1 start: 150 usec |
| 19 | // It's factor (int32_t)MATH_UNIT_FACTOR^2 too high. |
19 | // It's factor (int32_t)MATH_UNIT_FACTOR^2 too high. |
| 20 | projection = (int32_t)int_cos(angle[PITCH]) * (int32_t)int_cos(angle[ROLL]); |
20 | projection = (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
| 21 | // part1 end. |
21 | // part1 end. |
| 22 | 22 | ||
| 23 | uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
23 | uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
| 24 | int16_t deltaThrottle; |
24 | int16_t deltaThrottle; |
| 25 | 25 | ||
| 26 | if (projection < MINPROJECTION && projection >= 0) { |
26 | if (projection < MINPROJECTION && projection >= 0) { |
| 27 | // projection = MINPROJECTION; |
27 | // projection = MINPROJECTION; |
| 28 | deltaThrottle = 0; |
28 | deltaThrottle = 0; |
| 29 | } else if (projection >- MINPROJECTION && projection<0) { |
29 | } else if (projection > -MINPROJECTION && projection < 0) { |
| 30 | // projection = -MINPROJECITON; |
30 | // projection = -MINPROJECITON; |
| 31 | deltaThrottle = 0; |
31 | deltaThrottle = 0; |
| 32 | } else |
32 | } else |
| 33 | /* |
33 | /* |
| - | 34 | * We need delta throttle = constant/projection1 |
|
| 34 | * We need delta throttle = constant/projection1 |
35 | * (constant * MATH_UNIT_FACTOR^2) / projection. |
| 35 | * (constant * MATH_UNIT_FACTOR^2) / projection. |
36 | */ |
| 36 | */ |
37 | deltaThrottle = ((int32_t) effect * (int32_t) MATH_UNIT_FACTOR |
| 37 | deltaThrottle = ((int32_t)effect * (int32_t)MATH_UNIT_FACTOR * (int32_t)MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
38 | * (int32_t) MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
| 38 | // DebugOut.Analog[13] = deltaThrottle; |
39 | // DebugOut.Analog[13] = deltaThrottle; |
| 39 | 40 | ||
| 40 | return throttle + deltaThrottle; |
41 | return throttle + deltaThrottle; |
| 41 | } |
42 | } |
| 42 | /* |
43 | /* |
| 43 | har: R = e * k/p |
44 | har: R = e * k/p |
| 44 | vil R = e * ( 1 - k/p ) |
45 | vil R = e * ( 1 - k/p ) |
| 45 | = e - ek/p |
46 | = e - ek/p |
| 46 | */ |
47 | */ |
| 47 | 48 | ||