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beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-14 12:27:26 +00:00
parent edb0ef01b7
commit 1cc306493b
15 changed files with 213 additions and 747 deletions
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48
src/imu.c
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@ -147,10 +147,10 @@ void rotateV(struct fp_vector *v, float *delta)
float cosx, sinx, cosy, siny, cosz, sinz;
float coszcosx, coszcosy, sinzcosx, coszsinx, sinzsinx;
cosx = cosf(-delta[PITCH]);
sinx = sinf(-delta[PITCH]);
cosy = cosf(delta[ROLL]);
siny = sinf(delta[ROLL]);
cosx = cosf(delta[ROLL]);
sinx = sinf(delta[ROLL]);
cosy = cosf(delta[PITCH]);
siny = sinf(delta[PITCH]);
cosz = cosf(delta[YAW]);
sinz = sinf(delta[YAW]);
@ -161,13 +161,13 @@ void rotateV(struct fp_vector *v, float *delta)
sinzsinx = sinx * sinz;
mat[0][0] = coszcosy;
mat[0][1] = sinz * cosy;
mat[0][2] = -siny;
mat[1][0] = (coszsinx * siny) - sinzcosx;
mat[1][1] = (sinzsinx * siny) + (coszcosx);
mat[1][2] = cosy * sinx;
mat[2][0] = (coszcosx * siny) + (sinzsinx);
mat[2][1] = (sinzcosx * siny) - (coszsinx);
mat[0][1] = -cosy * sinz;
mat[0][2] = siny;
mat[1][0] = sinzcosx + (coszsinx * siny);
mat[1][1] = coszcosx - (sinzsinx * siny);
mat[1][2] = -sinx * cosy;
mat[2][0] = (sinzsinx) - (coszcosx * siny);
mat[2][1] = (coszsinx) + (sinzcosx * siny);
mat[2][2] = cosy * cosx;
v->X = v_tmp.X * mat[0][0] + v_tmp.Y * mat[1][0] + v_tmp.Z * mat[2][0];
@ -257,13 +257,6 @@ static void getEstimatedAttitude(void)
uint32_t currentT = micros();
uint32_t deltaT;
float scale, deltaGyroAngle[3];
#ifndef BASEFLIGHT_CALC
float sqGZ;
float sqGX;
float sqGY;
float sqGX_sqGZ;
float invmagXZ;
#endif
deltaT = currentT - previousT;
scale = deltaT * gyro.scale;
previousT = currentT;
@ -304,21 +297,8 @@ static void getEstimatedAttitude(void)
}
// Attitude of the estimated vector
#ifdef BASEFLIGHT_CALC
// This hack removes gimbal lock (sorta) on pitch, so rolling around doesn't make pitch jump when roll reaches 90deg
angle[ROLL] = _atan2f(EstG.V.X, EstG.V.Z);
angle[PITCH] = -asinf(EstG.V.Y / -sqrtf(EstG.V.X * EstG.V.X + EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z)) * (180.0f / M_PI * 10.0f);
#else
// MW2.2 version
sqGZ = EstG.V.Z * EstG.V.Z;
sqGX = EstG.V.X * EstG.V.X;
sqGY = EstG.V.Y * EstG.V.Y;
sqGX_sqGZ = sqGX + sqGZ;
invmagXZ = 1.0f / sqrtf(sqGX_sqGZ);
invG = 1.0f / sqrtf(sqGX_sqGZ + sqGY);
angle[ROLL] = _atan2f(EstG.V.X, EstG.V.Z);
angle[PITCH] = _atan2f(EstG.V.Y, invmagXZ * sqGX_sqGZ);
#endif
angle[ROLL] = _atan2f(EstG.V.Y, EstG.V.Z);
angle[PITCH] = _atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
#ifdef MAG
if (sensors(SENSOR_MAG)) {
@ -339,7 +319,7 @@ static void getEstimatedAttitude(void)
heading = hd;
#else
// MW 2.2 calculation
heading = _atan2f(EstM.V.Z * EstG.V.X - EstM.V.X * EstG.V.Z, EstM.V.Y * invG * sqGX_sqGZ - (EstM.V.X * EstG.V.X + EstM.V.Z * EstG.V.Z) * invG * EstG.V.Y);
heading = _atan2f(EstM.V.Z * EstG.V.X - EstM.V.X * EstG.V.Z, EstM.V.Y * invG * (EstG.V.X * EstG.V.X + EstG.V.Z * EstG.V.Z) - (EstM.V.X * EstG.V.X + EstM.V.Z * EstG.V.Z) * invG * EstG.V.Y);
heading = heading + magneticDeclination;
heading = heading / 10;
#endif