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https://github.com/betaflight/betaflight.git
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1dea2b3b3b
fixed pwm init for airplane mode mistakenly deleting motors from the mix. flyingwing should really work now. removed led debug from althold git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@223 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
370 lines
12 KiB
C
Executable file
370 lines
12 KiB
C
Executable file
#include "board.h"
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#include "mw.h"
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int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
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float accLPFVel[3];
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int16_t acc_25deg = 0;
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int32_t BaroAlt;
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int16_t sonarAlt; //to think about the unit
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int32_t EstAlt; // in cm
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int16_t BaroPID = 0;
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int32_t AltHold;
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int16_t errorAltitudeI = 0;
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float magneticDeclination = 0.0f; // calculated at startup from config
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float accVelScale;
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// **************
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// gyro+acc IMU
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// **************
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int16_t gyroData[3] = { 0, 0, 0 };
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int16_t gyroZero[3] = { 0, 0, 0 };
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int16_t angle[2] = { 0, 0 }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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static void getEstimatedAttitude(void);
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void imuInit(void)
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{
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acc_25deg = acc_1G * 0.423f;
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accVelScale = 9.80665f / acc_1G / 10000.0f;
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#ifdef MAG
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// if mag sensor is enabled, use it
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if (sensors(SENSOR_MAG))
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Mag_init();
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#endif
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}
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void computeIMU(void)
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{
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uint32_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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static int16_t gyroYawSmooth = 0;
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#define GYRO_INTERLEAVE
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if (sensors(SENSOR_ACC)) {
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ACC_getADC();
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getEstimatedAttitude();
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}
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Gyro_getADC();
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for (axis = 0; axis < 3; axis++) {
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#ifdef GYRO_INTERLEAVE
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gyroADCp[axis] = gyroADC[axis];
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#else
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gyroData[axis] = gyroADC[axis];
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#endif
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if (!sensors(SENSOR_ACC))
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accADC[axis] = 0;
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}
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timeInterleave = micros();
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annexCode();
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#ifdef GYRO_INTERLEAVE
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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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Gyro_getADC();
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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]) / 3;
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gyroADCprevious[axis] = gyroADCinter[axis] / 2;
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if (!sensors(SENSOR_ACC))
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accADC[axis] = 0;
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}
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#endif
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if (feature(FEATURE_GYRO_SMOOTHING)) {
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static uint8_t Smoothing[3] = { 0, 0, 0 };
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static int16_t gyroSmooth[3] = { 0, 0, 0 };
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if (Smoothing[0] == 0) {
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// initialize
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Smoothing[ROLL] = (cfg.gyro_smoothing_factor >> 16) & 0xff;
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Smoothing[PITCH] = (cfg.gyro_smoothing_factor >> 8) & 0xff;
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Smoothing[YAW] = (cfg.gyro_smoothing_factor) & 0xff;
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}
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for (axis = 0; axis < 3; axis++) {
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gyroData[axis] = (int16_t)(((int32_t)((int32_t)gyroSmooth[axis] * (Smoothing[axis] - 1)) + gyroData[axis] + 1 ) / Smoothing[axis]);
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gyroSmooth[axis] = gyroData[axis];
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}
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} else if (cfg.mixerConfiguration == MULTITYPE_TRI) {
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gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW]) / 3;
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gyroYawSmooth = gyroData[YAW];
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}
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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 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/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 / ((float)cfg.gyro_cmpf_factor + 1.0f))
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#define INV_GYR_CMPFM_FACTOR (1.0f / (GYR_CMPFM_FACTOR + 1.0f))
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#define GYRO_SCALE ((1998 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) // 32767 / 16.4lsb/dps for MPU3000
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// #define GYRO_SCALE ((2380 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) //should be 2279.44 but 2380 gives better result (ITG-3200)
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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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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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t_fp_vector EstG;
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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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struct 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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static int16_t _atan2f(float y, float x)
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{
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// no need for aidsy inaccurate shortcuts on a proper platform
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return (int16_t)(atan2f(y, x) * (180.0f / M_PI * 10.0f));
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}
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static void getEstimatedAttitude(void)
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{
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uint32_t axis;
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int32_t accMag = 0;
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static t_fp_vector EstM;
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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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static float accLPF[3];
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static uint32_t previousT;
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uint32_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 (cfg.acc_lpf_factor > 0) {
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accLPF[axis] = accLPF[axis] * (1.0f - (1.0f / cfg.acc_lpf_factor)) + accADC[axis] * (1.0f / cfg.acc_lpf_factor);
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accSmooth[axis] = accLPF[axis];
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} else {
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accSmooth[axis] = accADC[axis];
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}
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accLPFVel[axis] = accLPFVel[axis] * (1.0f - (1.0f / cfg.acc_lpf_for_velocity)) + accADC[axis] * (1.0f / cfg.acc_lpf_for_velocity);
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accMag += (int32_t)accSmooth[axis] * accSmooth[axis];
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if (sensors(SENSOR_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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}
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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 (sensors(SENSOR_MAG))
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rotateV(&EstM.V, deltaGyroAngle);
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if (abs(accSmooth[ROLL]) < acc_25deg && abs(accSmooth[PITCH]) < acc_25deg && accSmooth[YAW] > 0)
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f.SMALL_ANGLES_25 = 1;
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else
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f.SMALL_ANGLES_25 = 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) || f.SMALL_ANGLES_25) {
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for (axis = 0; axis < 3; axis++)
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EstG.A[axis] = (EstG.A[axis] * (float)cfg.gyro_cmpf_factor + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
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}
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if (sensors(SENSOR_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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}
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// Attitude of the estimated vector
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angle[ROLL] = _atan2f(EstG.V.X, EstG.V.Z);
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angle[PITCH] = _atan2f(EstG.V.Y, EstG.V.Z);
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#ifdef MAG
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if (sensors(SENSOR_MAG)) {
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// Attitude of the cross product vector GxM
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heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z);
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heading = heading + magneticDeclination;
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heading = heading / 10;
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if (heading > 180)
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heading = heading - 360;
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else if (heading < -180)
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heading = heading + 360;
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}
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#endif
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}
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#ifdef BARO
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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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int16_t applyDeadband16(int16_t value, int16_t deadband)
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{
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if (abs(value) < deadband) {
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value = 0;
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} else if (value > 0) {
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value -= deadband;
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} else if (value < 0) {
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value += deadband;
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}
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return value;
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}
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float applyDeadbandFloat(float value, int16_t deadband)
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{
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if (abs(value) < deadband) {
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value = 0;
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} else if (value > 0) {
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value -= deadband;
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} else if (value < 0) {
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value += deadband;
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}
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return value;
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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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void getEstimatedAltitude(void)
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{
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static uint32_t deadLine = INIT_DELAY;
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static int16_t baroHistTab[BARO_TAB_SIZE_MAX];
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static int8_t baroHistIdx;
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static int32_t baroHigh;
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uint32_t dTime;
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int16_t error;
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float invG;
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int16_t accZ;
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static float vel = 0.0f;
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static int32_t lastBaroAlt;
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float baroVel;
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if ((int32_t)(currentTime - deadLine) < UPDATE_INTERVAL)
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return;
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dTime = currentTime - deadLine;
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deadLine = currentTime;
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// **** Alt. Set Point stabilization PID ****
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baroHistTab[baroHistIdx] = BaroAlt / 10;
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baroHigh += baroHistTab[baroHistIdx];
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baroHigh -= baroHistTab[(baroHistIdx + 1) % cfg.baro_tab_size];
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baroHistIdx++;
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if (baroHistIdx == cfg.baro_tab_size)
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baroHistIdx = 0;
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EstAlt = EstAlt * cfg.baro_noise_lpf + (baroHigh * 10.0f / (cfg.baro_tab_size - 1)) * (1.0f - cfg.baro_noise_lpf); // additional LPF to reduce baro noise
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// P
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error = constrain(AltHold - EstAlt, -300, 300);
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error = applyDeadband16(error, 10); // remove small P parametr to reduce noise near zero position
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BaroPID = constrain((cfg.P8[PIDALT] * error / 100), -150, +150);
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// I
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errorAltitudeI += error * cfg.I8[PIDALT] / 50;
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errorAltitudeI = constrain(errorAltitudeI, -30000, 30000);
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BaroPID += (errorAltitudeI / 500); // I in range +/-60
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// projection of ACC vector to global Z, with 1G subtructed
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// Math: accZ = A * G / |G| - 1G
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invG = InvSqrt(isq(EstG.V.X) + isq(EstG.V.Y) + isq(EstG.V.Z));
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accZ = (accLPFVel[ROLL] * EstG.V.X + accLPFVel[PITCH] * EstG.V.Y + accLPFVel[YAW] * EstG.V.Z) * invG - acc_1G;
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accZ = applyDeadband16(accZ, acc_1G / cfg.accz_deadband);
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debug[0] = accZ;
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// Integrator - velocity, cm/sec
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vel += accZ * accVelScale * dTime;
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baroVel = (EstAlt - lastBaroAlt) / (dTime / 1000000.0f);
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baroVel = constrain(baroVel, -300, 300); // constrain baro velocity +/- 300cm/s
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baroVel = applyDeadbandFloat(baroVel, 10); // to reduce noise near zero
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lastBaroAlt = EstAlt;
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debug[1] = baroVel;
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// apply Complimentary Filter to keep near zero caluculated velocity based on baro velocity
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vel = vel * cfg.baro_cf + baroVel * (1.0f - cfg.baro_cf);
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// vel = constrain(vel, -300, 300); // constrain velocity +/- 300cm/s
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debug[2] = vel;
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// debug[3] = applyDeadbandFloat(vel, 5);
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// D
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BaroPID -= constrain(cfg.D8[PIDALT] * applyDeadbandFloat(vel, 5) / 20, -150, 150);
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debug[3] = BaroPID;
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}
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#endif /* BARO */
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