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| 1 | #ifndef _ANALOG_H |
1 | #ifndef _ANALOG_H |
| 2 | #define _ANALOG_H |
2 | #define _ANALOG_H |
| 3 | #include <inttypes.h> |
3 | #include <inttypes.h> |
| Line 4... | Line 4... | ||
| 4 | 4 | ||
| 5 | // #include "invenSense.h" |
5 | //#include "invenSense.h" |
| - | 6 | //#include "ENC-03_FC1.3.h" |
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| Line 6... | Line 7... | ||
| 6 | #include "ENC-03_FC1.3.h" |
7 | #include "ADXRS610_FC2.0.h" |
| 7 | 8 | ||
| 8 | /* |
9 | /* |
| 9 | * How much low pass filtering to apply for gyro_PID. |
10 | * How much low pass filtering to apply for gyro_PID. |
| 10 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
11 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
| 11 | * Temporarily replaced by userparam-configurable variable. |
12 | * Temporarily replaced by userparam-configurable variable. |
| Line 12... | Line 13... | ||
| 12 | */ |
13 | */ |
| 13 | #define GYROS_PIDFILTER 1 |
14 | // #define GYROS_PID_FILTER 1 |
| 14 | 15 | ||
| 15 | /* |
16 | /* |
| 16 | * How much low pass filtering to apply for gyro_ATT. |
17 | * How much low pass filtering to apply for gyro_ATT. |
| 17 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
18 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
| Line 18... | Line 19... | ||
| 18 | * Temporarily replaced by userparam-configurable variable. |
19 | * Temporarily replaced by userparam-configurable variable. |
| 19 | */ |
20 | */ |
| Line 20... | Line 21... | ||
| 20 | #define GYROS_INTEGRALFILTER 1 |
21 | // #define GYROS_ATT_FILTER 1 |
| 21 | 22 | ||
| 22 | // Temporarily replaced by userparam-configurable variable. |
23 | // Temporarily replaced by userparam-configurable variable. |
| 23 | //#define ACC_FILTER 4 |
24 | // #define ACC_FILTER 4 |
| 24 | 25 | ||
| 25 | /* |
26 | /* |
| - | 27 | About setting constants for different gyros: |
|
| - | 28 | Main parameters are positive directions and voltage/angular speed gain. |
|
| - | 29 | The "Positive direction" is the rotation direction around an axis where |
|
| 26 | About setting constants for different gyros: |
30 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
| 27 | Main parameters are positive directions and voltage/angular speed gain. |
31 | A gyro is considered, in this code, to be "forward" if its positive |
| 28 | The "Positive direction" is the rotation direction around an axis where |
32 | direction is: |
| Line 29... | Line 33... | ||
| 29 | the corresponding gyro outputs a voltage > the no-rotation voltage. |
33 | - Nose down for pitch |
| 30 | A gyro is considered, in this code, to be "forward" if its positive |
34 | - Left hand side down for roll |
| Line 98... | Line 102... | ||
| 98 | * channelsForStates array in analog.c. |
102 | * channelsForStates array in analog.c. |
| 99 | */ |
103 | */ |
| 100 | #define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
104 | #define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
| 101 | #define GYRO_SUMMATION_FACTOR_YAW 2 |
105 | #define GYRO_SUMMATION_FACTOR_YAW 2 |
| Line -... | Line 106... | ||
| - | 106 | ||
| - | 107 | #define ACC_SUMMATION_FACTOR_PITCHROLL 2 |
|
| - | 108 | #define ACC_SUMMATION_FACTOR_Z 1 |
|
| 102 | 109 | ||
| 103 | /* |
110 | /* |
| 104 | Integration: |
111 | Integration: |
| 105 | The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
112 | The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
| 106 | In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
113 | In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
| Line 158... | Line 165... | ||
| 158 | */ |
165 | */ |
| 159 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
166 | #define GYRO_NOISE_MEASUREMENT_DAMPING 5 |
| Line 160... | Line 167... | ||
| 160 | 167 | ||
| 161 | #define PITCH 0 |
168 | #define PITCH 0 |
| - | 169 | #define ROLL 1 |
|
| - | 170 | #define YAW 2 |
|
| 162 | #define ROLL 1 |
171 | #define Z 2 |
| 163 | /* |
172 | /* |
| 164 | * The values that this module outputs |
173 | * The values that this module outputs |
| 165 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
174 | * These first 2 exported arrays are zero-offset. The "PID" ones are used |
| 166 | * in the attitude control as rotation rates. The "ATT" ones are for |
175 | * in the attitude control as rotation rates. The "ATT" ones are for |
| Line 178... | Line 187... | ||
| 178 | extern volatile int16_t yawGyro; |
187 | extern volatile int16_t yawGyro; |
| Line 179... | Line 188... | ||
| 179 | 188 | ||
| 180 | /* |
189 | /* |
| 181 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
190 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
| 182 | */ |
191 | */ |
| Line 183... | Line 192... | ||
| 183 | extern volatile int16_t rawGyroSum[2], rawYawGyroSum; |
192 | extern volatile int16_t rawGyroSum[3]; |
| 184 | 193 | ||
| 185 | /* |
194 | /* |
| 186 | * The acceleration values that this module outputs. They are zero based. |
195 | * The acceleration values that this module outputs. They are zero based. |
| 187 | */ |
196 | */ |
| Line 188... | Line 197... | ||
| 188 | extern volatile int16_t acc[2], ZAcc; |
197 | extern volatile int16_t acc[3]; |
| 189 | extern volatile int16_t filteredAcc[2]; |
198 | extern volatile int16_t filteredAcc[2]; |
| 190 | 199 | ||