#if HAS_ACCEL
__pdata accel_t ao_sample_accel;
#endif
+#if HAS_GYRO
+__pdata accel_t ao_sample_accel_along;
+__pdata accel_t ao_sample_accel_across;
+__pdata accel_t ao_sample_accel_through;
+__pdata gyro_t ao_sample_roll;
+__pdata gyro_t ao_sample_pitch;
+__pdata gyro_t ao_sample_yaw;
+__pdata angle_t ao_sample_angle;
+__pdata angle_t ao_sample_roll_angle;
+#endif
__data uint8_t ao_sample_data;
__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
+#if HAS_GYRO
+__pdata accel_t ao_ground_accel_along;
+__pdata accel_t ao_ground_accel_across;
+__pdata accel_t ao_ground_accel_through;
+__pdata gyro_t ao_ground_pitch;
+__pdata gyro_t ao_ground_yaw;
+__pdata gyro_t ao_ground_roll;
+#endif
+
static __pdata uint8_t ao_preflight; /* in preflight mode */
static __pdata uint16_t nsamples;
#if HAS_ACCEL
__pdata int32_t ao_sample_accel_sum;
#endif
+#if HAS_GYRO
+__pdata int32_t ao_sample_accel_along_sum;
+__pdata int32_t ao_sample_accel_across_sum;
+__pdata int32_t ao_sample_accel_through_sum;
+__pdata int32_t ao_sample_pitch_sum;
+__pdata int32_t ao_sample_yaw_sum;
+__pdata int32_t ao_sample_roll_sum;
+#endif
static void
ao_sample_preflight_add(void)
ao_sample_accel_sum += ao_sample_accel;
#endif
ao_sample_pres_sum += ao_sample_pres;
+#if HAS_GYRO
+ ao_sample_accel_along_sum += ao_sample_accel_along;
+ ao_sample_accel_across_sum += ao_sample_accel_across;
+ ao_sample_accel_through_sum += ao_sample_accel_through;
+ ao_sample_pitch_sum += ao_sample_pitch;
+ ao_sample_yaw_sum += ao_sample_yaw;
+ ao_sample_roll_sum += ao_sample_roll;
+#endif
++nsamples;
}
#endif
ao_ground_pres = ao_sample_pres_sum >> 9;
ao_ground_height = pres_to_altitude(ao_ground_pres);
- nsamples = 0;
ao_sample_pres_sum = 0;
+#if HAS_GYRO
+ ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
+ ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
+ ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
+ ao_ground_pitch = ao_sample_pitch_sum >> 9;
+ ao_ground_yaw = ao_sample_yaw_sum >> 9;
+ ao_ground_roll = ao_sample_roll_sum >> 9;
+ ao_sample_accel_along_sum = 0;
+ ao_sample_accel_across_sum = 0;
+ ao_sample_accel_through_sum = 0;
+ ao_sample_pitch_sum = 0;
+ ao_sample_yaw_sum = 0;
+ ao_sample_roll_sum = 0;
+ ao_sample_angle = 0;
+#endif
+ nsamples = 0;
}
static void
ao_sample_preflight_set();
}
+#if HAS_GYRO
+
+static int32_t p_filt;
+static int32_t y_filt;
+
+static gyro_t inline ao_gyro(void) {
+ gyro_t p = ao_sample_pitch - ao_ground_pitch;
+ gyro_t y = ao_sample_yaw - ao_ground_yaw;
+
+ p_filt = p_filt - (p_filt >> 6) + p;
+ y_filt = y_filt - (y_filt >> 6) + y;
+
+ p = p_filt >> 6;
+ y = y_filt >> 6;
+ return ao_sqrt(p*p + y*y);
+}
+#endif
+
uint8_t
ao_sample(void)
{
ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
ao_data_set_accel(ao_data, ao_sample_accel);
#endif
+#if HAS_GYRO
+ ao_sample_accel_along = ao_data_along(ao_data);
+ ao_sample_pitch = ao_data_pitch(ao_data);
+ ao_sample_yaw = ao_data_yaw(ao_data);
+ ao_sample_roll = ao_data_roll(ao_data);
+#endif
if (ao_preflight)
ao_sample_preflight();
if (ao_flight_state < ao_flight_boost)
ao_sample_preflight_update();
ao_kalman();
+#if HAS_GYRO
+ ao_sample_angle += ao_gyro();
+ ao_sample_roll_angle += (ao_sample_roll - ao_ground_roll);
+#endif
}
ao_sample_data = ao_data_ring_next(ao_sample_data);
}
#if HAS_ACCEL
ao_sample_accel_sum = 0;
ao_sample_accel = 0;
+#endif
+#if HAS_GYRO
+ ao_sample_accel_along_sum = 0;
+ ao_sample_accel_across_sum = 0;
+ ao_sample_accel_through_sum = 0;
+ ao_sample_accel_along = 0;
+ ao_sample_accel_across = 0;
+ ao_sample_accel_through = 0;
+ ao_sample_pitch_sum = 0;
+ ao_sample_yaw_sum = 0;
+ ao_sample_roll_sum = 0;
+ ao_sample_pitch = 0;
+ ao_sample_yaw = 0;
+ ao_sample_roll = 0;
+ ao_sample_angle = 0;
#endif
ao_sample_data = ao_data_head;
ao_preflight = TRUE;
extern alt_t ao_ground_height;
extern alt_t ao_sample_alt;
+double ao_sample_qangle;
+
int ao_sample_prev_tick;
uint16_t prev_tick;
+
#include "ao_kalman.c"
+#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
}
static double
-ao_mpu6000_gyro(int16_t sensor)
+ao_mpu6000_gyro(int32_t sensor)
{
return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
}
if (!ao_summary) {
printf("%7.2f height %8.2f accel %8.3f "
#if MEGAMETRUM
+ "roll %8.3f angle %8.3f qangle %8.3f "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
#endif
"state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
height,
accel,
#if MEGAMETRUM
+ ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+ ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+ ao_sample_qangle,
ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
q_dot.q2 = 0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
q_dot.q3 = 0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
+#if 0
printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
printf ("q_dot (%g) %g %g %g\n",
q_dot.q0,
q_dot.q1,
q_dot.q2,
q_dot.q3);
+#endif
ao_orient.q0 += q_dot.q0 * dt;
ao_orient.q1 += q_dot.q1 * dt;
ao_quat_rot(&ao_current, &ao_up, &ao_orient);
+ ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
ao_orient.q0,
ao_orient.q1,
ao_current.q1,
ao_current.q2,
ao_current.q3);
+#endif
}
#endif
double rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
double rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
- update_orientation(rate_x, rate_z, rate_y, tick);
+ update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
}
ao_records_read++;
ao_insert();