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/*#######################################################################################
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/*********************************************************************************/
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Attitude sense system (processing of gyro, accelerometer and altimeter data)
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/* Attitude sense system (processing of gyro, accelerometer and altimeter data)  */
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#######################################################################################*/
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/*********************************************************************************/
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#ifndef _ATTITUDE_H
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#ifndef _ATTITUDE_H
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#define _ATTITUDE_H
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#define _ATTITUDE_H
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/*
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/*
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 * Gyro readings are divided by this before being used in attitude control. This will scale them
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 * Gyro readings are divided by this before being used in attitude control. This will scale them
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 * to match the scale of the stick control etc. variables. This is just a rough non-precision
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 * to match the scale of the stick control etc. variables. This is just a rough non-precision
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 * scaling - the below definitions make precise conversion factors.
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 * scaling - the below definitions make precise conversion factors.
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 * Will be about 4 for InvenSense, 8 for FC1.3 and 13 for ADXRS610 (hmmm - originally is was only 8???)
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 * Will be about 4 for InvenSense, 8 for FC1.3 and 8 for ADXRS610.
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 * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees.
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 * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees.
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 */
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 */
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#define HIRES_GYRO_INTEGRATION_FACTOR (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250)
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#define HIRES_GYRO_INTEGRATION_FACTOR (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250)
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#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR))
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#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR))
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/*
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/*
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 * Rotation rates
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 * Rotation rates
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 */
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 */
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extern int16_t pitchRate_PID, rollRate_PID, yawRate;
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extern int16_t rate_PID[2], yawRate;
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extern int16_t pitchDifferential, rollDifferential;
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extern int16_t differential[2];
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/*
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/*
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 * Attitudes calcualted by numerical integration of gyro rates
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 * Attitudes calculated by numerical integration of gyro rates
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 */
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 */
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extern int32_t pitchAngle, rollAngle, yawAngle;
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extern int32_t angle[2], yawAngle;
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extern int16_t yawGyroHeadingInDeg;
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extern int16_t yawGyroHeadingInDeg;
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extern uint16_t updateCompassCourse;
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extern uint16_t updateCompassCourse;
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extern uint16_t badCompassHeading;
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extern uint16_t badCompassHeading;
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/*
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 * Height control
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 */
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extern int readingHeight;
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extern int setPointHeight;
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/*
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/*
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 * Interval wrap-over values for attitude integrals
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 * Interval wrap-over values for attitude integrals
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 */
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 */
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extern long turnOver180Pitch, turnOver180Roll;
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extern long turnOver180Pitch, turnOver180Roll;
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 * - Summing up how much acc. meter correction was done to the gyro integrals over the last n
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 * - Summing up how much acc. meter correction was done to the gyro integrals over the last n
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 *   integration, and then adding the sum / n to the dynamic offset
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 *   integration, and then adding the sum / n to the dynamic offset
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 * - Detect which way the pilot pulls the stick to keep the copter steady, and correct by that
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 * - Detect which way the pilot pulls the stick to keep the copter steady, and correct by that
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 * - Invent your own...
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 * - Invent your own...
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 */
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 */
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extern int16_t dynamicOffsetPitch, dynamicOffsetRoll, dynamicOffsetYaw;
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// extern int16_t savedDynamicOffsetPitch, savedDynamicOffsetRoll;
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extern int16_t dynamicOffset[2], dynamicOffsetYaw;
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/*
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/*
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 * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor).
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 * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor).
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 * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right).
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 * To be called when the pilot commands gyro calibration (eg. by moving the left stick up-left or up-right).