mirror of
https://github.com/betaflight/betaflight.git
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d262c6e66c
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
343 lines
12 KiB
C++
Executable file
343 lines
12 KiB
C++
Executable file
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void computeIMU()
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{
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uint8_t axis;
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static int16_t gyroADCprevious[3] = { 0, 0, 0 };
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int16_t gyroADCp[3];
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int16_t gyroADCinter[3];
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static uint32_t timeInterleave = 0;
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#if defined(TRI)
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static int16_t gyroYawSmooth = 0;
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#endif
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if (MAG)
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Mag_getADC();
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if (BARO)
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Baro_update();
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//we separate the 2 situations because reading gyro values with a gyro only setup can be acchieved at a higher rate
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//gyro+nunchuk: we must wait for a quite high delay betwwen 2 reads to get both WM+ and Nunchuk data. It works with 3ms
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//gyro only: the delay to read 2 consecutive values can be reduced to only 0.65ms
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if (!ACC && nunchuk) {
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annexCode();
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while ((micros() - timeInterleave) < INTERLEAVING_DELAY); //interleaving delay between 2 consecutive reads
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timeInterleave = micros();
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WMP_getRawADC();
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getEstimatedAttitude(); // computation time must last less than one interleaving delay
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#if BARO
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getEstimatedAltitude();
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#endif
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while ((micros() - timeInterleave) < INTERLEAVING_DELAY); //interleaving delay between 2 consecutive reads
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timeInterleave = micros();
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while (WMP_getRawADC() != 1); // For this interleaving reading, we must have a gyro update at this point (less delay)
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for (axis = 0; axis < 3; axis++) {
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// empirical, we take a weighted value of the current and the previous values
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// /4 is to average 4 values, note: overflow is not possible for WMP gyro here
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gyroData[axis] = (gyroADC[axis] * 3 + gyroADCprevious[axis] + 2) / 4;
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gyroADCprevious[axis] = gyroADC[axis];
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}
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} else {
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if (ACC) {
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ACC_getADC();
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getEstimatedAttitude();
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if (BARO)
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getEstimatedAltitude();
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}
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if (GYRO)
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Gyro_getADC();
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else
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WMP_getRawADC();
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for (axis = 0; axis < 3; axis++)
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gyroADCp[axis] = gyroADC[axis];
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timeInterleave = micros();
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annexCode();
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if ((micros() - timeInterleave) > 650) {
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annex650_overrun_count++;
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} else {
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while ((micros() - timeInterleave) < 650); //empirical, interleaving delay between 2 consecutive reads
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}
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if (GYRO)
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Gyro_getADC();
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else
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WMP_getRawADC();
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for (axis = 0; axis < 3; axis++) {
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gyroADCinter[axis] = gyroADC[axis] + gyroADCp[axis];
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// empirical, we take a weighted value of the current and the previous values
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gyroData[axis] = (gyroADCinter[axis] + gyroADCprevious[axis] + 1) / 3;
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gyroADCprevious[axis] = gyroADCinter[axis] / 2;
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if (!ACC)
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accADC[axis] = 0;
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}
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}
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#if defined(TRI)
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gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW] + 1) / 3;
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gyroYawSmooth = gyroData[YAW];
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#endif
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}
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// **************************************************
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// Simplified IMU based on "Complementary Filter"
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// Inspired by http://starlino.com/imu_guide.html
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//
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// adapted by ziss_dm : http://www.multiwii.com/forum/viewtopic.php?f=8&t=198
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//
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// The following ideas was used in this project:
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// 1) Rotation matrix: http://en.wikipedia.org/wiki/Rotation_matrix
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// 2) Small-angle approximation: http://en.wikipedia.org/wiki/Small-angle_approximation
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// 3) C. Hastings approximation for atan2()
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// 4) Optimization tricks: http://www.hackersdelight.org/
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//
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// Currently Magnetometer uses separate CF which is used only
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// for heading approximation.
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//
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// Modified: 19/04/2011 by ziss_dm
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// Version: V1.1
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//
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// code size deduction and tmp vector intermediate step for vector rotation computation: October 2011 by Alex
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// **************************************************
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//****** advanced users settings *******************
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/* Set the Low Pass Filter factor for ACC */
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/* Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time*/
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/* Comment this if you do not want filter at all.*/
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/* Default WMC value: 8*/
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#define ACC_LPF_FACTOR 4
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/* Set the Low Pass Filter factor for Magnetometer */
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/* Increasing this value would reduce Magnetometer noise (not visible in GUI), but would increase Magnetometer lag time*/
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/* Comment this if you do not want filter at all.*/
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/* Default WMC value: n/a*/
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//#define MG_LPF_FACTOR 4
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/* Set the Gyro Weight for Gyro/Acc complementary filter */
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/* Increasing this value would reduce and delay Acc influence on the output of the filter*/
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/* Default WMC value: 300*/
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#define GYR_CMPF_FACTOR 310.0f
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/* Set the Gyro Weight for Gyro/Magnetometer complementary filter */
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/* Increasing this value would reduce and delay Magnetometer influence on the output of the filter*/
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/* Default WMC value: n/a*/
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#define GYR_CMPFM_FACTOR 200.0f
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//****** end of advanced users settings *************
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#define INV_GYR_CMPF_FACTOR (1.0f / (GYR_CMPF_FACTOR + 1.0f))
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#define INV_GYR_CMPFM_FACTOR (1.0f / (GYR_CMPFM_FACTOR + 1.0f))
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#if GYRO
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#define GYRO_SCALE ((2380 * PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) //should be 2279.44 but 2380 gives better result
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// +-2000/sec deg scale
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//#define GYRO_SCALE ((200.0f * PI)/((32768.0f / 5.0f / 4.0f ) * 180.0f * 1000000.0f) * 1.5f)
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// +- 200/sec deg scale
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// 1.5 is emperical, not sure what it means
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// should be in rad/sec
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#else
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#define GYRO_SCALE (1.0f/200e6f)
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// empirical, depends on WMP on IDG datasheet, tied of deg/ms sensibility
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// !!!!should be adjusted to the rad/sec
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#endif
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// Small angle approximation
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#define ssin(val) (val)
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#define scos(val) 1.0f
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typedef struct fp_vector {
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float X;
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float Y;
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float Z;
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} t_fp_vector_def;
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typedef union {
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float A[3];
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t_fp_vector_def V;
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} t_fp_vector;
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int16_t _atan2(float y, float x)
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{
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#define fp_is_neg(val) ((((byte*)&val)[3] & 0x80) != 0)
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float z = y / x;
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int16_t zi = abs(int16_t(z * 100));
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int8_t y_neg = fp_is_neg(y);
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if (zi < 100) {
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if (zi > 10)
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z = z / (1.0f + 0.28f * z * z);
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if (fp_is_neg(x)) {
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if (y_neg)
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z -= PI;
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else
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z += PI;
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}
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} else {
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z = (PI / 2.0f) - z / (z * z + 0.28f);
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if (y_neg)
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z -= PI;
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}
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z *= (180.0f / PI * 10);
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return z;
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}
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// Rotate Estimated vector(s) with small angle approximation, according to the gyro data
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void rotateV(struct fp_vector *v, float *delta)
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{
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fp_vector v_tmp = *v;
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v->Z -= delta[ROLL] * v_tmp.X + delta[PITCH] * v_tmp.Y;
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v->X += delta[ROLL] * v_tmp.Z - delta[YAW] * v_tmp.Y;
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v->Y += delta[PITCH] * v_tmp.Z + delta[YAW] * v_tmp.X;
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}
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void getEstimatedAttitude()
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{
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uint8_t axis;
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int32_t accMag = 0;
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static t_fp_vector EstG;
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#if MAG
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static t_fp_vector EstM;
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#endif
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#if defined(MG_LPF_FACTOR)
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static int16_t mgSmooth[3];
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#endif
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#if defined(ACC_LPF_FACTOR)
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static int16_t accTemp[3]; //projection of smoothed and normalized magnetic vector on x/y/z axis, as measured by magnetometer
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#endif
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static uint16_t previousT;
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uint16_t currentT = micros();
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float scale, deltaGyroAngle[3];
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scale = (currentT - previousT) * GYRO_SCALE;
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previousT = currentT;
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// Initialization
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for (axis = 0; axis < 3; axis++) {
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deltaGyroAngle[axis] = gyroADC[axis] * scale;
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#if defined(ACC_LPF_FACTOR)
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accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> ACC_LPF_FACTOR)) + accADC[axis];
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accSmooth[axis] = accTemp[axis] >> ACC_LPF_FACTOR;
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#define ACC_VALUE accSmooth[axis]
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#else
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accSmooth[axis] = accADC[axis];
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#define ACC_VALUE accADC[axis]
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#endif
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// accMag += (ACC_VALUE * 10 / (int16_t)acc_1G) * (ACC_VALUE * 10 / (int16_t)acc_1G);
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accMag += (int32_t) ACC_VALUE *ACC_VALUE;
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#if MAG
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#if defined(MG_LPF_FACTOR)
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mgSmooth[axis] = (mgSmooth[axis] * (MG_LPF_FACTOR - 1) + magADC[axis]) / MG_LPF_FACTOR; // LPF for Magnetometer values
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#define MAG_VALUE mgSmooth[axis]
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#else
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#define MAG_VALUE magADC[axis]
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#endif
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#endif
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}
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accMag = accMag * 100 / ((int32_t) acc_1G * acc_1G);
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rotateV(&EstG.V, deltaGyroAngle);
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#if MAG
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rotateV(&EstM.V, deltaGyroAngle);
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#endif
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if (abs(accSmooth[ROLL]) < acc_25deg && abs(accSmooth[PITCH]) < acc_25deg && accSmooth[YAW] > 0)
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smallAngle25 = 1;
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else
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smallAngle25 = 0;
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// Apply complimentary filter (Gyro drift correction)
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// If accel magnitude >1.4G or <0.6G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
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// To do that, we just skip filter, as EstV already rotated by Gyro
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if ((36 < accMag && accMag < 196) || smallAngle25)
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for (axis = 0; axis < 3; axis++) {
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int16_t acc = ACC_VALUE;
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#if not defined(TRUSTED_ACCZ)
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if (smallAngle25 && axis == YAW)
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//We consider ACCZ = acc_1G when the acc on other axis is small.
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//It's a tweak to deal with some configs where ACC_Z tends to a value < acc_1G when high throttle is applied.
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//This tweak applies only when the multi is not in inverted position
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acc = acc_1G;
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#endif
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EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + acc) * INV_GYR_CMPF_FACTOR;
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}
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#if MAG
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for (axis = 0; axis < 3; axis++)
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EstM.A[axis] = (EstM.A[axis] * GYR_CMPFM_FACTOR + MAG_VALUE) * INV_GYR_CMPFM_FACTOR;
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#endif
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// Attitude of the estimated vector
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angle[ROLL] = _atan2(EstG.V.X, EstG.V.Z);
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angle[PITCH] = _atan2(EstG.V.Y, EstG.V.Z);
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#if MAG
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// Attitude of the cross product vector GxM
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heading = _atan2(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10;
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#endif
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}
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float InvSqrt(float x)
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{
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union {
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int32_t i;
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float f;
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} conv;
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conv.f = x;
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conv.i = 0x5f3759df - (conv.i >> 1);
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return 0.5f * conv.f * (3.0f - x * conv.f * conv.f);
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}
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int32_t isq(int32_t x)
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{
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return x * x;
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}
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#define UPDATE_INTERVAL 25000 // 40hz update rate (20hz LPF on acc)
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#define INIT_DELAY 4000000 // 4 sec initialization delay
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#define Kp1 5.5f // PI observer velocity gain
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#define Kp2 10.0f // PI observer position gain
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#define Ki 0.01f // PI observer integral gain (bias cancellation)
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#define dt (UPDATE_INTERVAL / 1000000.0f)
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void getEstimatedAltitude()
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{
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static uint8_t inited = 0;
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static int16_t AltErrorI = 0;
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static float AccScale;
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static uint32_t deadLine = INIT_DELAY;
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int16_t AltError;
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int16_t InstAcc;
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static int32_t tmpAlt;
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static int16_t EstVelocity = 0;
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static uint32_t velTimer;
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static int16_t lastAlt;
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if (currentTime < deadLine)
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return;
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deadLine = currentTime + UPDATE_INTERVAL;
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// Soft start
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if (!inited) {
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inited = 1;
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tmpAlt = BaroAlt * 10;
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AccScale = 100 * 9.80665f / acc_1G;
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}
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// Estimation Error
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AltError = BaroAlt - EstAlt;
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AltErrorI += AltError;
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AltErrorI = constrain(AltErrorI, -2500, +2500);
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// Gravity vector correction and projection to the local Z
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//InstAcc = (accADC[YAW] * (1 - acc_1G * InvSqrt(isq(accADC[ROLL]) + isq(accADC[PITCH]) + isq(accADC[YAW])))) * AccScale + (Ki) * AltErrorI;
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#if defined(TRUSTED_ACCZ)
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InstAcc = (accADC[YAW] * (1 - acc_1G * InvSqrt(isq(accADC[ROLL]) + isq(accADC[PITCH]) + isq(accADC[YAW])))) * AccScale + AltErrorI / 100;
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#else
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InstAcc = AltErrorI / 100;
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#endif
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// Integrators
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tmpAlt += EstVelocity * (dt * dt) + (Kp2 * dt) * AltError;
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EstVelocity += InstAcc + Kp1 * AltError;
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EstVelocity = constrain(EstVelocity, -10000, +10000);
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EstAlt = tmpAlt / 10;
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if (currentTime < velTimer)
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return;
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velTimer = currentTime + 500000;
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zVelocity = tmpAlt - lastAlt;
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lastAlt = tmpAlt;
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debug4 = zVelocity;
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}
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