WebSVN - FlightCtrl - Diff - Rev 1634 and 1645 - /branches/dongfang_FC

  * things functionally without side effects) but this is shorter and probably
  * faster too.
  * The variables are overwritten at each attitude calculation invocation - the values
  * are not preserved or reused.
  */
-int16_t pitchRate, rollRate, yawRate;
+int16_t rate[2], yawRate;
 // With different (less) filtering
-int16_t pitchRate_PID, rollRate_PID;
+int16_t rate_PID[2];
-int16_t pitchDifferential, rollDifferential;
+int16_t differential[2];
 /*
  * Gyro readings, after performing "axis coupling" - that is, the transfomation
  * of rotation rates from the airframe-local coordinate system to a ground-fixed
  * coordinate system. If axis copling is disabled, the gyro readings will be
  * copied into these directly.
  * These are global for the same pragmatic reason as with the gyro readings.
  * The variables are overwritten at each attitude calculation invocation - the values
  * are not preserved or reused.
  */
-int16_t ACPitchRate, ACRollRate, ACYawRate;
+int16_t ACRate[2], ACYawRate;
 /*
  * Gyro integrals. These are the rotation angles of the airframe compared to the
  * horizontal plane, yaw relative to yaw at start.
  */
-int32_t pitchAngle, rollAngle, yawAngle;
+int32_t angle[2], yawAngle;
 #define PITCHROLLOVER180 (GYRO_DEG_FACTOR_PITCHROLL * 180L)
 #define PITCHROLLOVER360 (GYRO_DEG_FACTOR_PITCHROLL * 360L)
 #define YAWOVER360       (GYRO_DEG_FACTOR_YAW * 360L)
-int32_t pitchCorrectionSum = 0, rollCorrectionSum = 0;
+int32_t correctionSum[2] = {0,0};
 /*
  * Experiment: Compensating for dynamic-induced gyro biasing.
  */
-int16_t dynamicOffsetPitch = 0, dynamicOffsetRoll = 0, dynamicOffsetYaw = 0;
+int16_t dynamicOffset[2] = {0,0}, dynamicOffsetYaw = 0;
 // int16_t savedDynamicOffsetPitch = 0, savedDynamicOffsetRoll = 0;
  * it makes sense to set the integrals (standing on ground, or flying at
  * constant speed, and 2) at small angles a, sin(a) ~= constant * a,
  * it is hardly worth the trouble.
  ************************************************************************/
-int32_t getPitchAngleEstimateFromAcc(void) {
-  return GYRO_ACC_FACTOR * (int32_t)filteredPitchAxisAcc;
-}
-int32_t getRollAngleEstimateFromAcc(void) {
+int32_t getAngleEstimateFromAcc(uint8_t axis) {
-  return GYRO_ACC_FACTOR * (int32_t)filteredRollAxisAcc;
+  return GYRO_ACC_FACTOR * (int32_t)filteredAcc[axis];
+}
 void setStaticAttitudeAngles(void) {
 #ifdef ATTITUDE_USE_ACC_SENSORS
-  pitchAngle = getPitchAngleEstimateFromAcc();
+  angle[PITCH] = getAngleEstimateFromAcc(PITCH);
-  rollAngle = getRollAngleEstimateFromAcc();
-#else
+  angle[ROLL] = getAngleEstimateFromAcc(ROLL);
-  pitchAngle = 0;
+#else
-  rollAngle = 0;
+  angle[PITCH] = angle[ROLL] = 0;
 #endif
+}
 /************************************************************************
  * Neutral Readings
  ************************************************************************/
 void attitude_setNeutral(void) {
   // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.
   dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;
-  dynamicOffsetPitch = dynamicOffsetRoll = 0;
+  dynamicOffset[PITCH] = dynamicOffset[ROLL] = 0;
   // Calibrate hardware.
   analog_calibrate();
+}
 /************************************************************************
  * Get sensor data from the analog module, and release the ADC
  * TODO: Ultimately, the analog module could do this (instead of dumping
+ * the values into variables).
+ * The rate variable end up in a range of about [-1024, 1023].
- * the values into variables).
+ * When scaled down by CONTROL_SCALING, the interval is about [-256, 256].
  *************************************************************************/
-void getAnalogData(void) {
-  // For the differential calculation. Diff. is not supported right now.
+void getAnalogData(void) {
-  // int16_t d2Pitch, d2Roll;
-  pitchRate_PID = (hiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR;
-  pitchRate = (filteredHiResPitchGyro + dynamicOffsetPitch) / HIRES_GYRO_INTEGRATION_FACTOR;
-  pitchDifferential = pitchGyroD;
+  uint8_t axis;
+  for (axis=PITCH; axis <=ROLL; axis++) {
-  rollRate_PID = (hiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR;
+    rate_PID[axis]     = (gyro_PID[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
-  rollRate = (filteredHiResRollGyro + dynamicOffsetRoll) / HIRES_GYRO_INTEGRATION_FACTOR;
+    rate[axis]         = (gyro_ATT[axis] + dynamicOffset[axis]) / HIRES_GYRO_INTEGRATION_FACTOR;
-  rollDifferential = rollGyroD;
+    differential[axis] = gyroD[axis];
+  }
   yawRate = yawGyro + dynamicOffsetYaw;
   // We are done reading variables from the analog module.
-  // We are done reading variables from the analog module. Interrupt-driven sensor reading may restart.
+  // Interrupt-driven sensor reading may restart.
   analogDataReady = 0;
-  analog_start();
-}
-/************************************************************************
- * Axis coupling, H&I Style
- * Currently not working (and there is a bug in it,
- * which causes unstable flight in heading-hold mode).
- ************************************************************************/
-void H_and_I_axisCoupling(void) {
-  int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0;
-  int16_t CouplingNickRoll = 0, CouplingRollNick = 0;
-  tmp13 = (rollRate * pitchAngle) / 2048L;
-  tmp13 *= dynamicParams.AxisCoupling2; // 65
-  tmp13 /= 4096L;
-  CouplingNickRoll = tmp13;
-  tmp14 = (pitchRate * rollAngle) / 2048L;
-  tmp14 *= dynamicParams.AxisCoupling2; // 65
-  tmp14 /= 4096L;
-  CouplingRollNick = tmp14;
-  tmp14 -= tmp13;
-  ACYawRate = yawRate + tmp14;
-  /*
-  if(!dynamicParams.AxisCouplingYawCorrection) ACYawRate = yawRate - tmp14 / 2; // force yaw
-  else ACYawRate
-  */
-  tmpl = ((yawRate + tmp14) * pitchAngle) / 2048L;
-  tmpl *= dynamicParams.AxisCoupling1;
-  tmpl /= 4096L;
-  tmpl2 = ((yawRate + tmp14) * rollAngle) / 2048L;
-  tmpl2 *= dynamicParams.AxisCoupling1;
-  tmpl2 /= 4096L;
-  // if(abs(yawRate > 64)) {
-  // if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1;
-  // }
-  ACPitchRate = pitchRate - tmpl2 + tmpl / 100L;
-  ACRollRate = rollRate + tmpl - tmpl2 / 100L;
+  analog_start();
+}
 /*
  * This is the standard flight-style coordinate system transformation
  * (from airframe-local axes to a ground-based system). For some reason
  * the MK uses a left-hand coordinate system. The tranformation has been
  * changed accordingly.
  */
 void trigAxisCoupling(void) {
-  int16_t cospitch = int_cos(pitchAngle);
+  int16_t cospitch = int_cos(angle[PITCH]);
-  int16_t cosroll =  int_cos(rollAngle);
+  int16_t cosroll =  int_cos(angle[ROLL]);
-  int16_t sinroll =  int_sin(rollAngle);
+  int16_t sinroll =  int_sin(angle[ROLL]);
-  int16_t tanpitch = int_tan(pitchAngle);
+  int16_t tanpitch = int_tan(angle[PITCH]);
 #define ANTIOVF 1024
-  ACPitchRate =            ((int32_t)pitchRate * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;
+  ACRate[PITCH] =             ((int32_t) rate[PITCH] * cosroll - (int32_t)yawRate * sinroll) / (int32_t)MATH_UNIT_FACTOR;
-  ACRollRate = rollRate + (((int32_t)pitchRate * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(rollAngle) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));
+  ACRate[ROLL] = rate[ROLL] + (((int32_t)rate[PITCH] * sinroll / ANTIOVF * tanpitch + (int32_t)yawRate * int_cos(angle[ROLL]) / ANTIOVF * tanpitch) / ((int32_t)MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR));
-  ACYawRate =             ((int32_t)pitchRate * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;
+  ACYawRate =                 ((int32_t) rate[PITCH] * sinroll) / cospitch + ((int32_t)yawRate * cosroll) / cospitch;
+}
 void integrate(void) {
   // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
-void integrate(void) {
-  // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.
+  uint8_t axis;
-  if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {
-    // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.
     if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER)
-      trigAxisCoupling();
+  if(!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {
-    else
+    // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.
-      H_and_I_axisCoupling();
+    trigAxisCoupling();
   } else {
-    ACPitchRate = pitchRate;
+    ACRate[PITCH] = rate[PITCH];
-    ACRollRate = rollRate;
-    ACYawRate = yawRate;
+    ACRate[ROLL]  = rate[ROLL];
-  }
+    ACYawRate = yawRate;
-  DebugOut.Analog[3] = pitchRate;
-  // DebugOut.Analog[3 + 3] = ACPitchRate;
-  DebugOut.Analog[4] = rollRate;
-  // DebugOut.Analog[4 + 3] = ACRollRate;
-  DebugOut.Analog[5] = yawRate;
-  // DebugOut.Analog[5 + 3] = ACYawRate;
   /*
   DebugOut.Analog[9] = int_cos(pitchAngle);
-  DebugOut.Analog[10] = int_sin(pitchAngle);
+  DebugOut.Analog[3] = ACRate[PITCH];
-  DebugOut.Analog[11] = int_tan(pitchAngle);
+  DebugOut.Analog[4] = ACRate[ROLL];
-  */
+  DebugOut.Analog[5] = ACYawRate;
   /*
-   * Yaw
+  /*
-   * Calculate yaw gyro integral (~ to rotation angle)
+   * Yaw
+  }
   /*
    * Pitch axis integration and range boundary wrap.
+   */
-   */
+  for (axis=PITCH; axis<=ROLL; axis++) {
-  pitchAngle += ACPitchRate;
+    angle[axis] += ACRate[axis];
-  if(pitchAngle > PITCHROLLOVER180) {
+    if(angle[axis] > PITCHROLLOVER180) {
-    pitchAngle -= PITCHROLLOVER360;
+      angle[axis] -= PITCHROLLOVER360;
-  } else if (pitchAngle <= -PITCHROLLOVER180) {
+    } else if (angle[axis] <= -PITCHROLLOVER180) {
-    pitchAngle += PITCHROLLOVER360;
-  }
-  /*
-   * Pitch axis integration and range boundary wrap.
+      angle[axis] += PITCHROLLOVER360;
-   */
-  rollAngle  += ACRollRate;
-  if(rollAngle > PITCHROLLOVER180) {
-    rollAngle -= PITCHROLLOVER360;
-  } else if (rollAngle <= -PITCHROLLOVER180) {
     rollAngle += PITCHROLLOVER360;
+  }
+}
  ************************************************************************/
 void correctIntegralsByAcc0thOrder(void) {
   // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities
   // are less than ....., or reintroduce Kalman.
   // Well actually the Z axis acc. check is not so silly.
+  uint8_t axis;
-  if(!looping && //((ZAxisAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction
+  if(!looping && //((ZAcc >= -4) || (MKFlags & MKFLAG_MOTOR_RUN))) { // if not looping in any direction
-     ZAxisAcc >= -dynamicParams.UserParams[7] && ZAxisAcc <= dynamicParams.UserParams[7]) {
+     ZAcc >= -dynamicParams.UserParams[7] && ZAcc <= dynamicParams.UserParams[7]) {
     DebugOut.Digital[0] = 1;
     uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!
+    uint8_t debugFullWeight = 1;
-    uint8_t debugFullWeight = 1;
-    int32_t accDerivedPitch = getPitchAngleEstimateFromAcc();
-    int32_t accDerivedRoll = getRollAngleEstimateFromAcc();
+    int32_t accDerived[2];
-    if((maxControlPitch > 64) || (maxControlRoll > 64)) { // reduce effect during stick commands
+    if((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands
       permilleAcc /= 2;
       debugFullWeight = 0;
+    }
     /*
      * Add to each sum: The amount by which the angle is changed just below.
      */
-    pitchCorrectionSum += permilleAcc * (accDerivedPitch - pitchAngle);
+    for (axis=PITCH; axis<=ROLL; axis++) {
-    rollCorrectionSum += permilleAcc * (accDerivedRoll - rollAngle);
+      accDerived[axis] = getAngleEstimateFromAcc(axis);
-    // There should not be a risk of overflow here, since the integrals do not exceed a few 100000.
-    pitchAngle = ((int32_t)(1000 - permilleAcc) * pitchAngle + (int32_t)permilleAcc * accDerivedPitch) / 1000L;
+      correctionSum[axis] += permilleAcc * (accDerived[axis] - angle[axis]);
+      // There should not be a risk of overflow here, since the integrals do not exceed a few 100000.
+      angle[axis] = ((int32_t)(1000 - permilleAcc) * angle[axis] + (int32_t)permilleAcc * accDerived[axis]) / 1000L;
     rollAngle = ((int32_t)(1000 - permilleAcc) * rollAngle + (int32_t)permilleAcc * accDerivedRoll) / 1000L;
     DebugOut.Digital[1] = debugFullWeight;
   } else {
     DebugOut.Digital[0] = 0;
 // 2 times / sec.
 #define DRIFTCORRECTION_TIME 488/2
 void driftCompensation(void) {
   static int16_t timer = DRIFTCORRECTION_TIME;
   int16_t deltaCompensation;
+  uint8_t axis;
   if (! --timer) {
     timer = DRIFTCORRECTION_TIME;
-    deltaCompensation = ((pitchCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME);
-    CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp);
-    dynamicOffsetPitch += deltaCompensation / staticParams.GyroAccTrim;
+    for (axis=PITCH; axis<=ROLL; axis++) {
-    deltaCompensation = ((rollCorrectionSum + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME);
+      deltaCompensation = ((correctionSum[axis] + 1000L * DRIFTCORRECTION_TIME / 2) / 1000 / DRIFTCORRECTION_TIME);
-    CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp);
+      CHECK_MIN_MAX(deltaCompensation, -staticParams.DriftComp, staticParams.DriftComp);
-    dynamicOffsetRoll += deltaCompensation / staticParams.GyroAccTrim;
+      dynamicOffset[axis] += deltaCompensation / staticParams.GyroAccTrim;
-    pitchCorrectionSum = rollCorrectionSum = 0;
+      correctionSum[axis] = 0;
-    DebugOut.Analog[28] = dynamicOffsetPitch;
+      DebugOut.Analog[28 + axis] = dynamicOffset;
-    DebugOut.Analog[29] = dynamicOffsetRoll;
+    }
+  }
+}
 /************************************************************************
   driftCompensation();
 #endif
+}
 /*
-void updateCompass(void) {
+  void updateCompass(void) {
   int16_t w, v, r,correction, error;
   if(compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {
-    setCompassCalState();
+  setCompassCalState();
   } else {
-    // get maximum attitude angle
+  // get maximum attitude angle
-    w = abs(pitchAngle / 512);
+  w = abs(pitchAngle / 512);
-    v = abs(rollAngle / 512);
+  v = abs(rollAngle / 512);
-    if(v > w) w = v;
+  if(v > w) w = v;
-    correction = w / 8 + 1;
+  correction = w / 8 + 1;
-    // calculate the deviation of the yaw gyro heading and the compass heading
+  // calculate the deviation of the yaw gyro heading and the compass heading
-    if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
+  if (compassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
-    else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;
+  else error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180;
-    if(abs(yawRate) > 128) { // spinning fast
+  if(abs(yawRate) > 128) { // spinning fast
-      error = 0;
+  error = 0;
-    }
+  }
-    if(!badCompassHeading && w < 25) {
+  if(!badCompassHeading && w < 25) {
-      if(updateCompassCourse) {
+  if(updateCompassCourse) {
-        beep(200);
+  beep(200);
-        yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
+  yawGyroHeading = (int32_t)compassHeading * GYRO_DEG_FACTOR_YAW;
-        compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
+  compassCourse = (int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);
-        updateCompassCourse = 0;
+  updateCompassCourse = 0;
-      }
+  }
-    }
+  }
-    yawGyroHeading += (error * 8) / correction;
+  yawGyroHeading += (error * 8) / correction;
-    w = (w * dynamicParams.CompassYawEffect) / 32;
+  w = (w * dynamicParams.CompassYawEffect) / 32;
-    w = dynamicParams.CompassYawEffect - w;
+  w = dynamicParams.CompassYawEffect - w;
-    if(w >= 0) {
+  if(w >= 0) {
-      if(!badCompassHeading) {
+  if(!badCompassHeading) {
-        v = 64 + (maxControlPitch + maxControlRoll) / 8;
+  v = 64 + (maxControlPitch + maxControlRoll) / 8;
-        // calc course deviation
+  // calc course deviation
-        r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
+  r = ((540 + (yawGyroHeading / GYRO_DEG_FACTOR_YAW) - compassCourse) % 360) - 180;
-        v = (r * w) / v; // align to compass course
+  v = (r * w) / v; // align to compass course
-        // limit yaw rate
+  // limit yaw rate
-        w = 3 * dynamicParams.CompassYawEffect;
+  w = 3 * dynamicParams.CompassYawEffect;
-        if (v > w) v = w;
+  if (v > w) v = w;
-        else if (v < -w) v = -w;
+  else if (v < -w) v = -w;
-        yawAngle += v;
+  yawAngle += v;
-      }
+  }
-      else
+  else
-        { // wait a while
+  { // wait a while
-          badCompassHeading--;
+  badCompassHeading--;
-        }
+  }
-    }
+  }
+  else {  // ignore compass at extreme attitudes for a while
-    else {  // ignore compass at extreme attitudes for a while
+  badCompassHeading = 500;
       badCompassHeading = 500;
-    }
+  }
+  }
 */
  * will measure the effect of vibration, to use for later compensation. So, one should keep
  * the stick in the start-motors position for a few seconds, till all motors run (at the wrong
  * speed unfortunately... must find a better way)
  */
 /*
-void attitude_startDynamicCalibration(void) {
+  void attitude_startDynamicCalibration(void) {
   dynamicCalPitch = dynamicCalRoll = dynamicCalYaw = dynamicCalCount = 0;
   savedDynamicOffsetPitch = savedDynamicOffsetRoll = 1000;
-}
+  }
-void attitude_continueDynamicCalibration(void) {
+  void attitude_continueDynamicCalibration(void) {
   // measure dynamic offset now...
   dynamicCalPitch += hiResPitchGyro;
   dynamicCalRoll += hiResRollGyro;
   dynamicCalYaw += rawYawGyroSum;
   dynamicCalCount++;
   // Param6: Manual mode. The offsets are taken from Param7 and Param8.
   if (dynamicParams.UserParam6 || 1) { // currently always enabled.
-    // manual mode
+  // manual mode
-    dynamicOffsetPitch = dynamicParams.UserParam7 - 128;
+  dynamicOffsetPitch = dynamicParams.UserParam7 - 128;
-    dynamicOffsetRoll = dynamicParams.UserParam8 - 128;
+  dynamicOffsetRoll = dynamicParams.UserParam8 - 128;
   } else {
-    // use the sampled value (does not seem to work so well....)
+  // use the sampled value (does not seem to work so well....)
-    dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
+  dynamicOffsetPitch = savedDynamicOffsetPitch = -dynamicCalPitch / dynamicCalCount;
-    dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
+  dynamicOffsetRoll = savedDynamicOffsetRoll = -dynamicCalRoll / dynamicCalCount;
-    dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;
+  dynamicOffsetYaw = -dynamicCalYaw / dynamicCalCount;
+  }
   // keep resetting these meanwhile, to avoid accumulating errors.
   setStaticAttitudeIntegrals();

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/attitude.c - Rev 1634 → 1645