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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 "output.h" |
8 | #include "output.h" |
| 9 | 9 | ||
| 10 | // = cos^2(45 degs). |
10 | // = cos^2(45 degs). |
| 11 | // const int32_t FACTORSQUARED = 1L << (MATH_UNIT_FACTOR_LOG * 2); |
11 | // const int32_t FACTORSQUARED = 1L << (MATH_UNIT_FACTOR_LOG * 2); |
| 12 | const int32_t MINPROJECTION = 1L << (MATH_UNIT_FACTOR_LOG * 2 - 9); |
12 | const int32_t MINPROJECTION = 1L << (MATH_UNIT_FACTOR_LOG * 2 - 9); |
| 13 | 13 | ||
| 14 | // Takes 380 - 400 usec. Way too slow. |
14 | // Takes 380 - 400 usec. Way too slow. |
| 15 | // With static MINPROJECTION: 220 usec. |
15 | // With static MINPROJECTION: 220 usec. |
| 16 | uint16_t AC_getThrottle(uint16_t throttle) { |
16 | uint16_t AC_getThrottle(uint16_t throttle) { |
| 17 | int32_t projection; |
17 | int32_t projection; |
| 18 | uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
18 | uint8_t effect = dynamicParams.attitudeControl; // Userparam 3 |
| 19 | int16_t deltaThrottle, y; |
19 | int16_t deltaThrottle, y; |
| 20 | 20 | ||
| 21 | projection = (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
21 | projection = (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
| 22 | projection >>= 8; |
22 | projection >>= 8; |
| 23 | 23 | ||
| 24 | if (projection < 0) { |
24 | if (projection < 0) { |
| 25 | // Case not yet considered! |
25 | // Case not yet considered! |
| 26 | y = 0; |
26 | y = 0; |
| 27 | } else { |
27 | } else { |
| 28 | if (projection < MINPROJECTION && projection >= 0) { |
28 | if (projection < MINPROJECTION && projection >= 0) { |
| 29 | projection = MINPROJECTION; |
29 | projection = MINPROJECTION; |
| 30 | } else if (projection > -MINPROJECTION && projection < 0) { |
30 | } else if (projection > -MINPROJECTION && projection < 0) { |
| 31 | projection = -MINPROJECTION; |
31 | projection = -MINPROJECTION; |
| 32 | } else { |
32 | } else { |
| 33 | } |
33 | } |
| 34 | y = ((int32_t) throttle << (MATH_UNIT_FACTOR_LOG * 2 - 8)) / projection |
34 | y = ((int32_t) throttle << (MATH_UNIT_FACTOR_LOG * 2 - 8)) / projection |
| 35 | - throttle; |
35 | - throttle; |
| 36 | } |
36 | } |
| 37 | deltaThrottle = ((int32_t)y * effect) >> 6; |
37 | deltaThrottle = ((int32_t)y * effect) >> 6; |
| 38 | debugOut.analog[8] = deltaThrottle; |
38 | debugOut.analog[8] = deltaThrottle; |
| 39 | return throttle + deltaThrottle; |
39 | return throttle + deltaThrottle; |
| 40 | } |
40 | } |
| 41 | 41 | ||