Subversion Repositories FlightCtrl

int32_t getAngleEstimateFromAcc(uint8_t axis) {

int32_t getAngleEstimateFromAcc(uint8_t axis) {

void setStaticAttitudeAngles(void) {

void setStaticAttitudeAngles(void) {

#ifdef ATTITUDE_USE_ACC_SENSORS

#ifdef ATTITUDE_USE_ACC_SENSORS

        angle[ROLL] = getAngleEstimateFromAcc(ROLL);

  angle[ROLL] = getAngleEstimateFromAcc(ROLL);

 * Neutral Readings                                                    

 * Neutral Readings                                                    

 ************************************************************************/

 ************************************************************************/

void attitude_setNeutral(void) {

void attitude_setNeutral(void) {

        // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.

  // Servo_Off(); // disable servo output. TODO: Why bother? The servos are going to make a jerk anyway.

        dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;

  dynamicParams.AxisCoupling1 = dynamicParams.AxisCoupling2 = 0;

        driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;

  driftComp[PITCH] = driftComp[ROLL] = yawGyroDrift = driftCompYaw = 0;

        correctionSum[PITCH] = correctionSum[ROLL] = 0;

  correctionSum[PITCH] = correctionSum[ROLL] = 0;

        // Calibrate hardware.

  // Calibrate hardware.

        analog_calibrate();

  analog_calibrate();

        // reset gyro integrals to acc guessing

  // reset gyro integrals to acc guessing

        setStaticAttitudeAngles();

  setStaticAttitudeAngles();

        // Servo_On(); //enable servo output

  // Servo_On(); //enable servo output

}

}

/************************************************************************

 * Get sensor data from the analog module, and release the ADC          

 * Get sensor data from the analog module, and release the ADC          

 * the values into variables).

 * TODO: Ultimately, the analog module could do this (instead of dumping

 * The rate variable end up in a range of about [-1024, 1023].

 * the values into variables).

 *************************************************************************/

 * The rate variable end up in a range of about [-1024, 1023].

void getAnalogData(void) {

 *************************************************************************/

  uint8_t axis;

void getAnalogData(void) {

        uint8_t axis;

  for (axis = PITCH; axis <= ROLL; axis++) {

    rate_PID[axis] = gyro_PID[axis] / HIRES_GYRO_INTEGRATION_FACTOR

        for (axis = PITCH; axis <= ROLL; axis++) {

        + driftComp[axis];

                rate_PID[axis] = gyro_PID[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis];

    rate_ATT[axis] = gyro_ATT[axis] / HIRES_GYRO_INTEGRATION_FACTOR

                rate_ATT[axis] = gyro_ATT[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis];

        + driftComp[axis];

        // Interrupt-driven sensor reading may restart.

  analogDataReady = 0;

        analogDataReady = 0;

  analog_start();

        analog_start();

}

}

/*

/*

 * This is the standard flight-style coordinate system transformation

 * 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

 * the MK uses a left-hand coordinate system. The tranformation has been

 * changed accordingly.

 * changed accordingly.

 */

 */

void trigAxisCoupling(void) {

void trigAxisCoupling(void) {

        int16_t cospitch = int_cos(angle[PITCH]);

  J5HIGH;

        ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate

                    * sinroll) >> MATH_UNIT_FACTOR_LOG);

  ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate

      * sinroll) >> MATH_UNIT_FACTOR_LOG);

        ACRate[ROLL] = rate_ATT[ROLL] +

          (((((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll)

  ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t) rate_ATT[PITCH] * sinroll

              >> MATH_UNIT_FACTOR_LOG)

      + (int32_t) yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * int_tan(

              * int_tan(angle[PITCH])) >> MATH_UNIT_FACTOR_LOG);

      angle[PITCH])) >> MATH_UNIT_FACTOR_LOG);

        ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch

  ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch

                        + ((int32_t) yawRate * cosroll) / cospitch;

      + ((int32_t) yawRate * cosroll) / cospitch;

}

}

// 480 usec with axis coupling - almost no time without.

// 480 usec with axis coupling - almost no time without.

void integrate(void) {

void integrate(void) {

        // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.

  // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate.

        uint8_t axis;

  uint8_t axis;

        if (!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {

  if (!looping && (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) {

                // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.

    // The rotary rate limiter bit is abused for selecting axis coupling algorithm instead.

                trigAxisCoupling();

    trigAxisCoupling();

        } else {

  } else {

                ACRate[PITCH] = rate_ATT[PITCH];

    ACRate[PITCH] = rate_ATT[PITCH];

                ACRate[ROLL] = rate_ATT[ROLL];

    ACRate[ROLL] = rate_ATT[ROLL];

                ACYawRate = yawRate;

    ACYawRate = yawRate;

        }

  }

        /*

  /*

         * Yaw

   * Yaw

         * Calculate yaw gyro integral (~ to rotation angle)

   * Calculate yaw gyro integral (~ to rotation angle)

         * Limit yawGyroHeading proportional to 0 deg to 360 deg

   * Limit yawGyroHeading proportional to 0 deg to 360 deg

         */

   */

        yawGyroHeading += ACYawRate;

  yawGyroHeading += ACYawRate;

        yawAngleDiff += yawRate;

  yawAngleDiff += yawRate;

        if (yawGyroHeading >= YAWOVER360) {

  if (yawGyroHeading >= YAWOVER360) {

                yawGyroHeading -= YAWOVER360; // 360 deg. wrap

    yawGyroHeading -= YAWOVER360; // 360 deg. wrap

        } else if (yawGyroHeading < 0) {

  } else if (yawGyroHeading < 0) {

                        angle[axis] -= PITCHROLLOVER360;

    } else if (angle[axis] <= -PITCHROLLOVER180) {

                } else if (angle[axis] <= -PITCHROLLOVER180) {

      angle[axis] += PITCHROLLOVER360;

                        angle[axis] += PITCHROLLOVER360;

    }

                }

  }

        }

  J5LOW;

}

}

/************************************************************************

/************************************************************************

 * A kind of 0'th order integral correction, that corrects the integrals

 * A kind of 0'th order integral correction, that corrects the integrals

 * directly. This is the "gyroAccFactor" stuff in the original code.

 * directly. This is the "gyroAccFactor" stuff in the original code.

 * There is (there) also a drift compensation

 * There is (there) also a drift compensation

 * - it corrects the differential of the integral = the gyro offsets.

 * - it corrects the differential of the integral = the gyro offsets.

 * That should only be necessary with drifty gyros like ENC-03.

 * That should only be necessary with drifty gyros like ENC-03.

 ************************************************************************/

 ************************************************************************/

void correctIntegralsByAcc0thOrder(void) {

void correctIntegralsByAcc0thOrder(void) {

        // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities

  // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities

        // are less than ....., or reintroduce Kalman.

  // are less than ....., or reintroduce Kalman.

        // Well actually the Z axis acc. check is not so silly.

  // Well actually the Z axis acc. check is not so silly.

        uint8_t axis;

  uint8_t axis;

        int32_t temp;

  int32_t temp;

        if (!looping && acc[Z] >= -dynamicParams.UserParams[7] && acc[Z]

  if (!looping && acc[Z] >= -dynamicParams.UserParams[7] && acc[Z]

                        <= dynamicParams.UserParams[7]) {

      <= dynamicParams.UserParams[7]) {

                DebugOut.Digital[0] |= DEBUG_ACC0THORDER;

    DebugOut.Digital[0] |= DEBUG_ACC0THORDER;

                uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!

    uint8_t permilleAcc = staticParams.GyroAccFactor; // NOTE!!! The meaning of this value has changed!!

                uint8_t debugFullWeight = 1;

    uint8_t debugFullWeight = 1;

                int32_t accDerived;

    int32_t accDerived;

                if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active

    if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active

                        permilleAcc /= 2;

      permilleAcc /= 2;

                        debugFullWeight = 0;

      debugFullWeight = 0;

                }

    }

                if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands

    if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands

                        permilleAcc /= 2;

      permilleAcc /= 2;

                        debugFullWeight = 0;

      debugFullWeight = 0;

                }

    }

                if (debugFullWeight)

    if (debugFullWeight)

                        DebugOut.Digital[1] |= DEBUG_ACC0THORDER;

      DebugOut.Digital[1] |= DEBUG_ACC0THORDER;

                else

    else

                        DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;

      DebugOut.Digital[1] &= ~DEBUG_ACC0THORDER;

                /*

    /*

                 * Add to each sum: The amount by which the angle is changed just below.

     * Add to each sum: The amount by which the angle is changed just below.

                 */

     */

                for (axis = PITCH; axis <= ROLL; axis++) {

    for (axis = PITCH; axis <= ROLL; axis++) {

                        accDerived = getAngleEstimateFromAcc(axis);

      accDerived = getAngleEstimateFromAcc(axis);

                        DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;

      DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL;

                        // 1000 * the correction amount that will be added to the gyro angle in next line.

      // 1000 * the correction amount that will be added to the gyro angle in next line.

                        temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;

      temp = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000;

        static int16_t timer = DRIFTCORRECTION_TIME;

  static int16_t timer = DRIFTCORRECTION_TIME;

        int16_t deltaCorrection;

  int16_t deltaCorrection;

        uint8_t axis;

  uint8_t axis;

        if (!--timer) {

  if (!--timer) {

                timer = DRIFTCORRECTION_TIME;

    timer = DRIFTCORRECTION_TIME;

                for (axis = PITCH; axis <= ROLL; axis++) {

    for (axis = PITCH; axis <= ROLL; axis++) {

                        // Take the sum of corrections applied, add it to delta

      // Take the sum of corrections applied, add it to delta

                        deltaCorrection = (correctionSum[axis] + DRIFTCORRECTION_TIME / 2) / DRIFTCORRECTION_TIME;

      deltaCorrection = (correctionSum[axis] + DRIFTCORRECTION_TIME / 2)

                        // Add the delta to the compensation. So positive delta means, gyro should have higher value.

      // Add the delta to the compensation. So positive delta means, gyro should have higher value.

                        driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;

      driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim;

                        CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);

      CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp);

                        // DebugOut.Analog[11 + axis] = correctionSum[axis];

      // DebugOut.Analog[11 + axis] = correctionSum[axis];

            DebugOut.Analog[16 + axis] = correctionSum[axis];

      DebugOut.Analog[16 + axis] = correctionSum[axis];

                        DebugOut.Analog[18 + axis] = deltaCorrection / staticParams.GyroAccTrim;

      DebugOut.Analog[18 + axis] = deltaCorrection / staticParams.GyroAccTrim;

                        DebugOut.Analog[28 + axis] = driftComp[axis];

      DebugOut.Analog[28 + axis] = driftComp[axis];

                        correctionSum[axis] = 0;

      correctionSum[axis] = 0;

                }

    }

        }

  }

void calculateFlightAttitude(void) {

void calculateFlightAttitude(void) {

        // part1: 550 usec.

  // part1: 550 usec.

        // part1a: 550 usec.

  // part1a: 550 usec.

        // part1b: 60 usec.

  // part1b: 60 usec.

        getAnalogData();

  getAnalogData();

        // end part1b

  // end part1b

        integrate();

  integrate();

  // end part1a

        DebugOut.Analog[6] = ACRate[PITCH];

  DebugOut.Analog[6] = stronglyFilteredAcc[PITCH];

        DebugOut.Analog[7] = ACRate[ROLL];

  DebugOut.Analog[7] = stronglyFilteredAcc[ROLL];

        DebugOut.Analog[8] = ACYawRate;

  DebugOut.Analog[8] = stronglyFilteredAcc[Z];

        DebugOut.Analog[3] = rate_PID[PITCH];

  DebugOut.Analog[3] = rate_PID[PITCH];

        DebugOut.Analog[4] = rate_PID[ROLL];

  DebugOut.Analog[4] = rate_PID[ROLL];

#ifdef ATTITUDE_USE_ACC_SENSORS

#ifdef ATTITUDE_USE_ACC_SENSORS

        driftCorrection();

  driftCorrection();

}

}

void updateCompass(void) {

void updateCompass(void) {

        int16_t w, v, r, correction, error;

  int16_t w, v, r, correction, error;

        if (compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {

  if (compassCalState && !(MKFlags & MKFLAG_MOTOR_RUN)) {

                if (controlMixer_testCompassCalState()) {

    if (controlMixer_testCompassCalState()) {

                        compassCalState++;

      compassCalState++;

                        if (compassCalState < 5)

      if (compassCalState < 5)

                                beepNumber(compassCalState);

        beepNumber(compassCalState);

                        else

      else

                                beep(1000);

        beep(1000);

                }

    }

        } else {

  } else {

                // get maximum attitude angle

    // get maximum attitude angle

                w = abs(angle[PITCH] / 512);

    w = abs(angle[PITCH] / 512);

                v = abs(angle[ROLL] / 512);

    v = abs(angle[ROLL] / 512);

                if (v > w)

    if (v > w)

                        w = v;

      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)

    if (compassHeading < 0)

                        error = 0; // disable yaw drift compensation if compass heading is undefined

      error = 0; // disable yaw drift compensation if compass heading is undefined

                else if (abs(yawRate) > 128) { // spinning fast

    else if (abs(yawRate) > 128) { // spinning fast

                        error = 0;

      error = 0;

                } else {

    } else {

                        // compassHeading - yawGyroHeading, on a -180..179 deg interval.

      // compassHeading - yawGyroHeading, on a -180..179 deg interval.

                        error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW))

      error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW))

                                        % 360) - 180;

          % 360) - 180;

                }

    }

                if (!ignoreCompassTimer && w < 25) {

    if (!ignoreCompassTimer && w < 25) {

                        yawGyroDrift += error;

      yawGyroDrift += error;

                        // Basically this gets set if we are in "fix" mode, and when starting.

      // Basically this gets set if we are in "fix" mode, and when starting.

                        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 = compassHeading; //(int16_t)(yawGyroHeading / GYRO_DEG_FACTOR_YAW);

        compassCourse = compassHeading; //(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;

                 */

     */

                w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect)

    w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect)

                                / 32;

        / 32;

                // As readable formula:

    // As readable formula:

                // w = dynamicParams.CompassYawEffect * (1-w/32);

    // w = dynamicParams.CompassYawEffect * (1-w/32);

                if (w >= 0) { // maxAttitudeAngle < 32

    if (w >= 0) { // maxAttitudeAngle < 32

                        if (!ignoreCompassTimer) {

      if (!ignoreCompassTimer) {

                                v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;

        v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8;

                                // yawGyroHeading - compassCourse on a -180..179 degree interval.

        // yawGyroHeading - compassCourse on a -180..179 degree interval.

                                r

        r

                                                = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse)

            = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse)

                                                                % 360) - 180;

                % 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)

        if (v > w)

                                        v = w;

          v = w;

                                else if (v < -w)

        else if (v < -w)

                                        v = -w;

          v = -w;

                                yawAngleDiff += v;

        yawAngleDiff += v;

                        } else { // wait a while

      } else { // wait a while

                                ignoreCompassTimer--;

        ignoreCompassTimer--;

                        }

      }