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Rev 2048 | Rev 2052 | ||
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1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
2 | #include "attitude.h" |
2 | #include "attitude.h" |
3 | #include "uart0.h" |
- | |
4 | #include "configuration.h" |
3 | #include "configuration.h" |
5 | #include "dongfangMath.h" |
4 | #include "dongfangMath.h" |
6 | #include "controlMixer.h" |
5 | #include "controlMixer.h" |
7 | 6 | ||
8 | // For scope debugging only! |
7 | // For scope debugging only! |
9 | #include "output.h" |
8 | #include "output.h" |
10 | 9 | ||
11 | // = cos^2(45 degs). |
10 | // = cos^2(45 degs). |
12 | // const int32_t FACTORSQUARED = 1L << (MATH_UNIT_FACTOR_LOG * 2); |
11 | // const int32_t FACTORSQUARED = 1L << (MATH_UNIT_FACTOR_LOG * 2); |
13 | const int32_t MINPROJECTION = 1L << (LOG_MATH_UNIT_FACTOR * 2 - 9); |
12 | const int32_t MINPROJECTION = 1L << (LOG_MATH_UNIT_FACTOR * 2 - 9); |
14 | 13 | ||
15 | // Takes 380 - 400 usec. Way too slow. |
14 | // Takes 380 - 400 usec. Way too slow. |
16 | // With static MINPROJECTION: 220 usec. |
15 | // With static MINPROJECTION: 220 usec. |
17 | void AC_getPRTY(int16_t* PRTY) { |
16 | void AC_getPRTY(int16_t* PRTY) { |
18 | int16_t throttle = PRTY[CONTROL_THROTTLE]; |
17 | int16_t throttle = PRTY[CONTROL_THROTTLE]; |
19 | int32_t projection; |
18 | int32_t projection; |
20 | uint8_t effect = dynamicParams.attitudeControl; // Userparam 3 |
19 | uint8_t effect = dynamicParams.attitudeControl; // Userparam 3 |
21 | int16_t deltaThrottle, y; |
20 | int16_t deltaThrottle, y; |
22 | 21 | ||
23 | int16_t rollAngleInDegrees = attitude[ROLL]/GYRO_DEG_FACTOR_PITCHROLL; |
22 | int16_t rollAngleInDegrees = attitude[ROLL]/GYRO_DEG_FACTOR_PITCHROLL; |
24 | int16_t pitchAngleInDegrees = attitude[PITCH]/GYRO_DEG_FACTOR_PITCHROLL; |
23 | int16_t pitchAngleInDegrees = attitude[PITCH]/GYRO_DEG_FACTOR_PITCHROLL; |
25 | 24 | ||
26 | projection = (int32_t) cos_360(pitchAngleInDegrees) * (int32_t) cos_360(rollAngleInDegrees); |
25 | projection = (int32_t) cos_360(pitchAngleInDegrees) * (int32_t) cos_360(rollAngleInDegrees); |
27 | projection >>= 8; |
26 | projection >>= 8; |
28 | 27 | ||
29 | if (projection < 0) { |
28 | if (projection < 0) { |
30 | // Case not yet considered! |
29 | // Case not yet considered! |
31 | y = 0; |
30 | y = 0; |
32 | } else { |
31 | } else { |
33 | if (projection < MINPROJECTION && projection >= 0) { |
32 | if (projection < MINPROJECTION && projection >= 0) { |
34 | projection = MINPROJECTION; |
33 | projection = MINPROJECTION; |
35 | } else if (projection > -MINPROJECTION && projection < 0) { |
34 | } else if (projection > -MINPROJECTION && projection < 0) { |
36 | projection = -MINPROJECTION; |
35 | projection = -MINPROJECTION; |
37 | } else { |
36 | } else { |
38 | } |
37 | } |
39 | y = ((int32_t) throttle << (LOG_MATH_UNIT_FACTOR * 2 - 8)) / projection - throttle; |
38 | y = ((int32_t) throttle << (LOG_MATH_UNIT_FACTOR * 2 - 8)) / projection - throttle; |
40 | } |
39 | } |
41 | deltaThrottle = ((int32_t)y * effect) >> 6; |
40 | deltaThrottle = ((int32_t)y * effect) >> 6; |
42 | // debugOut.analog[8] = deltaThrottle; |
41 | // debugOut.analog[8] = deltaThrottle; |
43 | PRTY[CONTROL_THROTTLE] = throttle; |
42 | PRTY[CONTROL_THROTTLE] = throttle; |
44 | } |
43 | } |
45 | 44 |