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Quaternion-based Mahony's DCM IMU (implementation by S. Madgwick)

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Mag declination correction. Some cleanups
    DCM code changes from @MauroMombelli, allow gyro-only operation when neither ACC nor MAG can be used (i.e. no MAG and ACC is saturated.
    Replaced 'inclination' and 'heading' with 'attitude', converted all angles to decidegrees
    Prevent magnetometer readings from affecting roll/pitch angles. Compass now affects only yaw axis and magnetic interference won't mess up attitude calculations
    Ability to lock heading to GPS cource for airplanes
    Allow faster acquisition by initial attitude by using higher DCM kP gain on powerup
    Optimize magnetometer correction per @ledvinap suggestion. Better speed and less memory usage
    Prevent acceleration from affecting accSmooth if acceleration magnitude is too high
    Fixed incorrect GPS heading lock
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-10-03 18:39:48 +10:00
parent d489508e93
commit 069994bd92
22 changed files with 417 additions and 245 deletions
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9
src/main/io/serial_cli.c
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@ -535,8 +535,8 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_lpf, .config.minmax = { 0, 256 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "gyro_cmpf_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpf_factor, .config.minmax = { 100, 1000 } },
{ "gyro_cmpfm_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpfm_factor, .config.minmax = { 100, 1000 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 20000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 20000 } },
{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, .config.minmax = { 1, 250 } },
{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
@ -551,6 +551,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.pid_at_min_throttle, .config.lookup = { TABLE_OFF_ON } },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
@ -583,7 +584,7 @@ const clivalue_t valueTable[] = {
#endif
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, .config.minmax = { 0, ACC_MAX } },
{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, .config.minmax = { 0, 250 } },
{ "acc_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_cut_hz, .config.minmax = { 0, 200 } },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, .config.minmax = { 0, 100 } },
{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, .config.minmax = { 1, 20 } },
@ -622,7 +623,6 @@ const clivalue_t valueTable[] = {
{ "i_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[YAW], .config.minmax = { 0, 100 } },
{ "d_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[YAW], .config.minmax = { 0, 100 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, .config.minmax = { 0, 10 } },
{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, .config.minmax = { 0, 10 } },
{ "sensitivity_horizon", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, .config.minmax = { 0, 250 } },
@ -639,6 +639,7 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
{ "pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, .config.minmax = {0, 200 } },
{ "gyro_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, .config.minmax = {0, 200 } },