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Rev 1821 | Rev 1872 | ||
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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 "output.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 | uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
|
- | 18 | int16_t deltaThrottle; |
|
17 | 19 | ||
18 | // part1 start: 150 usec |
20 | // part1 start: 150 usec |
19 | // It's factor (int32_t)MATH_UNIT_FACTOR^2 too high. |
21 | // 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]); |
- | |
21 | // part1 end. |
22 | projection = 0; |
22 | - | ||
23 | uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
- | |
24 | int16_t deltaThrottle; |
- | |
- | 23 | ||
- | 24 | // (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
|
25 | 25 | // part1 end. |
|
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 |
38 | * (int32_t) MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
38 | * (int32_t) MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
39 | // DebugOut.Analog[13] = deltaThrottle; |
39 | // DebugOut.Analog[13] = deltaThrottle; |
- | 40 | } |
|
40 | 41 | ||
41 | return throttle + deltaThrottle; |
42 | return throttle + deltaThrottle; |
42 | } |
43 | } |
43 | /* |
44 | /* |
44 | har: R = e * k/p |
45 | har: R = e * k/p |
45 | vil R = e * ( 1 - k/p ) |
46 | vil R = e * ( 1 - k/p ) |
46 | = e - ek/p |
47 | = e - ek/p |
47 | */ |
48 | */ |
48 | 49 |