*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#define ACCEL_TYPE int16_t
#endif
-__pdata uint16_t ao_sample_tick; /* time of last data */
-__pdata pres_t ao_sample_pres;
-__pdata alt_t ao_sample_alt;
-__pdata alt_t ao_sample_height;
+AO_TICK_TYPE ao_sample_tick; /* time of last data */
+#if HAS_BARO
+pres_t ao_sample_pres;
+alt_t ao_sample_alt;
+alt_t ao_sample_height;
+#endif
#if HAS_ACCEL
-__pdata accel_t ao_sample_accel;
+accel_t ao_sample_accel;
+#endif
+#if HAS_IMU
+accel_t ao_sample_accel_along;
+accel_t ao_sample_accel_across;
+accel_t ao_sample_accel_through;
#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_orient;
+gyro_t ao_sample_roll;
+gyro_t ao_sample_pitch;
+gyro_t ao_sample_yaw;
+angle_t ao_sample_orient;
+angle_t ao_sample_orients[AO_NUM_ORIENT];
+uint8_t ao_sample_orient_pos;
+#endif
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t ao_sample_motor_pressure;
#endif
-__data uint8_t ao_sample_data;
+uint8_t ao_sample_data;
/*
* Sensor calibration values
*/
-__pdata pres_t ao_ground_pres; /* startup pressure */
-__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
+#if HAS_BARO
+pres_t ao_ground_pres; /* startup pressure */
+alt_t ao_ground_height; /* MSL of ao_ground_pres */
+#endif
#if HAS_ACCEL
-__pdata accel_t ao_ground_accel; /* startup acceleration */
-__pdata accel_t ao_accel_2g; /* factory accel calibration */
-__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+accel_t ao_ground_accel; /* startup acceleration */
+accel_t ao_accel_2g; /* factory accel calibration */
+int32_t ao_accel_scale; /* sensor to m/s² conversion */
+#endif
+
+#if HAS_IMU
+accel_t ao_ground_accel_along;
+accel_t ao_ground_accel_across;
+accel_t ao_ground_accel_through;
#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 int32_t ao_ground_pitch;
-__pdata int32_t ao_ground_yaw;
-__pdata int32_t ao_ground_roll;
+int32_t ao_ground_pitch;
+int32_t ao_ground_yaw;
+int32_t ao_ground_roll;
+#endif
+
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t ao_ground_motor_pressure;
#endif
-static __pdata uint8_t ao_preflight; /* in preflight mode */
+static uint8_t ao_preflight; /* in preflight mode */
-static __pdata uint16_t nsamples;
-__pdata int32_t ao_sample_pres_sum;
+static uint16_t nsamples;
+#if HAS_BARO
+int32_t ao_sample_pres_sum;
+#endif
#if HAS_ACCEL
-__pdata int32_t ao_sample_accel_sum;
+int32_t ao_sample_accel_sum;
+#endif
+#if HAS_IMU
+int32_t ao_sample_accel_along_sum;
+int32_t ao_sample_accel_across_sum;
+int32_t ao_sample_accel_through_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;
+int32_t ao_sample_pitch_sum;
+int32_t ao_sample_yaw_sum;
+int32_t ao_sample_roll_sum;
static struct ao_quaternion ao_rotation;
#endif
+#if HAS_MOTOR_PRESSURE
+int32_t ao_sample_motor_pressure_sum;
+#endif
#if HAS_FLIGHT_DEBUG
extern uint8_t ao_orient_test;
#if HAS_ACCEL
ao_sample_accel_sum += ao_sample_accel;
#endif
+#if HAS_BARO
ao_sample_pres_sum += ao_sample_pres;
-#if HAS_GYRO
+#endif
+#if HAS_IMU
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;
+#endif
+#if HAS_GYRO
ao_sample_pitch_sum += ao_sample_pitch;
ao_sample_yaw_sum += ao_sample_yaw;
ao_sample_roll_sum += ao_sample_roll;
+#endif
+#if HAS_MOTOR_PRESSURE
+ ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
#endif
++nsamples;
}
+#if HAS_GYRO
+static void
+ao_sample_set_all_orients(void)
+{
+ int i;
+ for (i = 0; i < AO_NUM_ORIENT; i++)
+ ao_sample_orients[i] = ao_sample_orient;
+ ao_sample_orient_pos = 0;
+}
+
+static void
+ao_sample_set_one_orient(void)
+{
+ ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
+ ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+}
+
+static void
+ao_sample_compute_orient(void)
+{
+ /* Compute pitch angle from vertical by taking the pad
+ * orientation vector and rotating it by the current total
+ * rotation value. That will be a unit vector pointing along
+ * the airframe axis. The Z value will be the cosine of the
+ * change in the angle from vertical since boost.
+ *
+ * rot = ao_rotation * vertical * ao_rotation°
+ * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+ * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+ * = a.z² - a.y² - a.x² + a.r²
+ *
+ * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+ * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+ * = -a.z² + a.y² + a.x² - a.r²
+ */
+
+ float rotz;
+ rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
+
+ ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+}
+#endif /* HAS_GYRO */
+
static void
ao_sample_preflight_set(void)
{
ao_ground_accel = ao_sample_accel_sum >> 9;
ao_sample_accel_sum = 0;
#endif
+#if HAS_BARO
ao_ground_pres = ao_sample_pres_sum >> 9;
ao_ground_height = pres_to_altitude(ao_ground_pres);
ao_sample_pres_sum = 0;
-#if HAS_GYRO
+#endif
+#if HAS_IMU
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;
- ao_ground_yaw = ao_sample_yaw_sum;
- ao_ground_roll = ao_sample_roll_sum;
ao_sample_accel_along_sum = 0;
ao_sample_accel_across_sum = 0;
ao_sample_accel_through_sum = 0;
+#endif
+#if HAS_MOTOR_PRESSURE
+ ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+ ao_sample_motor_pressure_sum = 0;
+#endif
+#if HAS_GYRO
+ ao_ground_pitch = ao_sample_pitch_sum;
+ ao_ground_yaw = ao_sample_yaw_sum;
+ ao_ground_roll = ao_sample_roll_sum;
ao_sample_pitch_sum = 0;
ao_sample_yaw_sum = 0;
ao_sample_roll_sum = 0;
- ao_sample_orient = 0;
+ ao_sample_set_all_orients();
struct ao_quaternion orient;
*/
ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
#if HAS_FLIGHT_DEBUG
- if (ao_orient_test)
- printf("\n\treset\n");
-#endif
+ if (ao_orient_test) {
+ printf("\n\treset across %d through %d along %d\n",
+ (ao_ground_accel_across - ao_config.accel_zero_across),
+ (ao_ground_accel_through - ao_config.accel_zero_through),
+ (ao_ground_accel_along - ao_config.accel_zero_along));
+ fflush(stdout);
+ }
+#endif
+
+ ao_sample_compute_orient();
+ ao_sample_set_all_orients();
#endif
nsamples = 0;
}
#if HAS_GYRO
-
#define TIME_DIV 200.0f
static void
ao_sample_rotate(void)
{
#ifdef AO_FLIGHT_TEST
- float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+ float dt = (AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
#else
static const float dt = 1/TIME_DIV;
#endif
- float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
- float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
- float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
+ float x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+ float y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+ float z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
struct ao_quaternion rot;
ao_quaternion_init_half_euler(&rot, x, y, z);
/* And normalize to make sure it remains a unit vector */
ao_quaternion_normalize(&ao_rotation, &ao_rotation);
- /* Compute pitch angle from vertical by taking the pad
- * orientation vector and rotating it by the current total
- * rotation value. That will be a unit vector pointing along
- * the airframe axis. The Z value will be the cosine of the
- * change in the angle from vertical since boost.
- *
- * rot = ao_rotation * vertical * ao_rotation°
- * rot = ao_rotation * (0,0,0,1) * ao_rotation°
- * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
- * = a.z² - a.y² - a.x² + a.r²
- *
- * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
- * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
- * = -a.z² + a.y² + a.x² - a.r²
- */
-
- float rotz;
- rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
-
- ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
-
#if HAS_FLIGHT_DEBUG
if (ao_orient_test) {
printf ("rot %d %d %d orient %d \r",
(int) (y * 1000),
(int) (z * 1000),
ao_sample_orient);
+ fflush(stdout);
}
#endif
-
+ ao_sample_compute_orient();
+ ao_sample_set_one_orient();
}
#endif
} else {
#if HAS_ACCEL
ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
- ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+ ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
#endif
ao_sample_preflight_set();
- ao_preflight = FALSE;
+ ao_preflight = false;
}
}
++nsamples;
else
ao_sample_preflight_set();
+#if !HAS_BARO
+ if ((nsamples & 0x3f) == 0)
+ ao_kalman_reset_accumulate();
+#endif
}
#if 0
uint8_t
ao_sample(void)
{
- ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
- ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+ ao_wakeup(&ao_sample_data);
+ ao_sleep((void *) &ao_data_head);
while (ao_sample_data != ao_data_head) {
- __xdata struct ao_data *ao_data;
+ struct ao_data *ao_data;
/* Capture a sample */
ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
#endif
#if HAS_ACCEL
- ao_sample_accel = ao_data_accel_cook(ao_data);
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
- ao_data_set_accel(ao_data, ao_sample_accel);
+ ao_sample_accel = ao_data_accel(ao_data);
#endif
-#if HAS_GYRO
+#if HAS_IMU
ao_sample_accel_along = ao_data_along(ao_data);
ao_sample_accel_across = ao_data_across(ao_data);
ao_sample_accel_through = ao_data_through(ao_data);
+#endif
+#if HAS_GYRO
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 HAS_MOTOR_PRESSURE
+ ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
if (ao_preflight)
ao_sample_preflight();
{
ao_config_get();
nsamples = 0;
+#if HAS_BARO
ao_sample_pres_sum = 0;
ao_sample_pres = 0;
+#endif
#if HAS_ACCEL
ao_sample_accel_sum = 0;
ao_sample_accel = 0;
#endif
-#if HAS_GYRO
+#if HAS_IMU
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;
+#endif
+#if HAS_GYRO
ao_sample_pitch_sum = 0;
ao_sample_yaw_sum = 0;
ao_sample_roll_sum = 0;
ao_sample_yaw = 0;
ao_sample_roll = 0;
ao_sample_orient = 0;
+ ao_sample_set_all_orients();
#endif
ao_sample_data = ao_data_head;
- ao_preflight = TRUE;
+ ao_preflight = true;
}
projects / fw / altos / blobdiff