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| Line 95... | Line 95... | ||
| 95 | int16_t gyro_PID[2]; |
95 | int16_t gyro_PID[2]; |
| 96 | int16_t gyro_ATT[2]; |
96 | int16_t gyro_ATT[2]; |
| 97 | int16_t gyroD[2]; |
97 | int16_t gyroD[2]; |
| 98 | int16_t yawGyro; |
98 | int16_t yawGyro; |
| Line -... | Line 99... | ||
| - | 99 | ||
| - | 100 | int32_t groundPressure; |
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| 99 | 101 | ||
| 100 | /* |
102 | /* |
| 101 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
103 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| 102 | * standing still. They are used for adjusting the gyro and acc. meter values |
104 | * standing still. They are used for adjusting the gyro and acc. meter values |
| 103 | * to be centered on zero. |
105 | * to be centered on zero. |
| Line 170... | Line 172... | ||
| 170 | // Value of 2 samples, with range. |
172 | // Value of 2 samples, with range. |
| 171 | uint16_t simpleAirPressure; |
173 | uint16_t simpleAirPressure; |
| Line 172... | Line 174... | ||
| 172 | 174 | ||
| 173 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
175 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
| - | 176 | int32_t filteredAirPressure; |
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| Line 174... | Line 177... | ||
| 174 | int32_t filteredAirPressure; |
177 | int32_t lastFilteredAirPressure; |
| 175 | 178 | ||
| 176 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
179 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
| 177 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
180 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
| Line 504... | Line 507... | ||
| 504 | } |
507 | } |
| Line 505... | Line 508... | ||
| 505 | 508 | ||
| 506 | // 2 samples were added. |
509 | // 2 samples were added. |
| 507 | pressureMeasurementCount += 2; |
510 | pressureMeasurementCount += 2; |
| - | 511 | if (pressureMeasurementCount >= AIRPRESSURE_OVERSAMPLING) { |
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| 508 | if (pressureMeasurementCount >= AIRPRESSURE_OVERSAMPLING) { |
512 | lastFilteredAirPressure = filteredAirPressure; |
| 509 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
513 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
| 510 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
514 | + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
| 511 | pressureMeasurementCount = airPressureSum = 0; |
515 | pressureMeasurementCount = airPressureSum = 0; |
| 512 | } |
516 | } |
| Line 522... | Line 526... | ||
| 522 | 526 | ||
| 523 | void analog_updateBatteryVoltage(void) { |
527 | void analog_updateBatteryVoltage(void) { |
| 524 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
528 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| 525 | // This is divided by 3 --> 10.34 counts per volt. |
529 | // This is divided by 3 --> 10.34 counts per volt. |
| 526 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
- | |
| 527 | debugOut.analog[11] = UBat; |
530 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| Line 528... | Line 531... | ||
| 528 | } |
531 | } |
| 529 | 532 | ||
| 530 | void analog_update(void) { |
533 | void analog_update(void) { |
| Line 631... | Line 634... | ||
| 631 | } |
634 | } |
| Line 632... | Line 635... | ||
| 632 | 635 | ||
| 633 | accOffset_writeToEEProm(); |
636 | accOffset_writeToEEProm(); |
| 634 | startAnalogConversionCycle(); |
637 | startAnalogConversionCycle(); |
| - | 638 | } |
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| - | 639 | ||
| - | 640 | void analog_setGround() { |
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| - | 641 | groundPressure = filteredAirPressure; |
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| - | 642 | } |
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| - | 643 | ||
| - | 644 | int32_t analog_getHeight(void) { |
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| - | 645 | return groundPressure - filteredAirPressure; |
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| - | 646 | } |
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| - | 647 | ||
| - | 648 | int16_t analog_getDHeight(void) { |
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| - | 649 | // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
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| - | 650 | return lastFilteredAirPressure - filteredAirPressure; |
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