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OP-1149: second order correction for all gyro axis. Add calibrated range contraint for temperature.

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cleanup replacing all the arrays of floats[] with corresponding AccelGyroSettings* structs.
This commit is contained in:
Alessio Morale 2014-02-06 00:57:27 +01:00
parent c9f9faafd5
commit 5bb5b34447
1 changed files with 70 additions and 65 deletions
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135
flight/modules/Attitude/attitude.c
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@ -96,7 +96,7 @@ static float accels_filtered[3];
static float grot_filtered[3];
static float yawBiasRate = 0;
static float rollPitchBiasRate = 0.0f;
static float accel_bias[3];
static AccelGyroSettingsaccel_biasData accel_bias;
static float q[4] = { 1, 0, 0, 0 };
static float R[3][3];
static int8_t rotate = 0;
@ -106,14 +106,15 @@ static bool bias_correct_gyro = true;
// static float gyros_passed[3];
// temp coefficient to calculate gyro bias
static bool apply_gyro_temp = false;
static bool apply_accel_temp = false;
static float gyro_temp_coeff[4] = { 0 };
static float accel_temp_coeff[4] = { 0 };
static bool apply_gyro_temp = false;
static bool apply_accel_temp = false;
static AccelGyroSettingsgyro_temp_coeffData gyro_temp_coeff;;
static AccelGyroSettingsaccel_temp_coeffData accel_temp_coeff;
static AccelGyroSettingstemp_calibrated_extentData temp_calibrated_extent;
// Accel and Gyro scaling (this is the product of sensor scale and adjustement in AccelGyroSettings
static float gyro_scale[3] = { 0 };
static float accel_scale[3] = { 0 };
static AccelGyroSettingsgyro_scaleData gyro_scale;
static AccelGyroSettingsaccel_scaleData accel_scale;
// For running trim flights
@ -315,9 +316,9 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
}
// First sample is temperature
gyros->x = -(gyro[1] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale[0];
gyros->y = (gyro[2] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale[1];
gyros->z = -(gyro[3] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale[2];
gyros->x = -(gyro[1] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale.X;
gyros->y = (gyro[2] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale.Y;
gyros->z = -(gyro[3] - STD_CC_ANALOG_GYRO_NEUTRAL) * gyro_scale.Z;
int32_t x = 0;
int32_t y = 0;
@ -332,9 +333,9 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
z += -accel_data.z;
} while ((i < 32) && (samples_remaining > 0));
float accel[3] = { accel_scale[0] * (float)x / i,
accel_scale[1] * (float)y / i,
accel_scale[2] * (float)z / i };
float accel[3] = { accel_scale.X * (float)x / i,
accel_scale.Y * (float)y / i,
accel_scale.Z * (float)z / i };
if (rotate) {
// TODO: rotate sensors too so stabilization is well behaved
@ -372,9 +373,9 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
}
// Scale accels and correct bias
accelState->x -= accel_bias[0];
accelState->y -= accel_bias[1];
accelState->z -= accel_bias[2];
accelState->x -= accel_bias.X;
accelState->y -= accel_bias.Y;
accelState->z -= accel_bias.Z;
if (bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
@ -418,24 +419,29 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
if (GyroStateReadOnly() || AccelStateReadOnly()) {
return 0;
}
gyros[0] = mpu6000_data.gyro_x * gyro_scale[0];
gyros[1] = mpu6000_data.gyro_y * gyro_scale[1];
gyros[2] = mpu6000_data.gyro_z * gyro_scale[2];
gyros[0] = mpu6000_data.gyro_x * gyro_scale.X;
gyros[1] = mpu6000_data.gyro_y * gyro_scale.Y;
gyros[2] = mpu6000_data.gyro_z * gyro_scale.Z;
accels[0] = mpu6000_data.accel_x * accel_scale.X;
accels[1] = mpu6000_data.accel_y * accel_scale.Y;
accels[2] = mpu6000_data.accel_z * accel_scale.Z;
float ctemp = mpu6000_data.temperature > temp_calibrated_extent.max ? temp_calibrated_extent.max :
(mpu6000_data.temperature < temp_calibrated_extent.min ? temp_calibrated_extent.min
: mpu6000_data.temperature);
accels[0] = mpu6000_data.accel_x * accel_scale[0];
accels[1] = mpu6000_data.accel_y * accel_scale[1];
accels[2] = mpu6000_data.accel_z * accel_scale[2];
if (apply_gyro_temp) {
gyros[0] -= gyro_temp_coeff[0] * mpu6000_data.temperature;
gyros[1] -= gyro_temp_coeff[1] * mpu6000_data.temperature;
gyros[2] -= (gyro_temp_coeff[2] + gyro_temp_coeff[3] * mpu6000_data.temperature) * mpu6000_data.temperature;
gyros[0] -= (gyro_temp_coeff.X + gyro_temp_coeff.X2 * ctemp) * ctemp;
gyros[1] -= (gyro_temp_coeff.Y + gyro_temp_coeff.Y2 * ctemp) * ctemp;
gyros[2] -= (gyro_temp_coeff.Z + gyro_temp_coeff.Z2 * ctemp) * ctemp;
}
if (apply_accel_temp) {
accels[0] -= accel_temp_coeff[0] * mpu6000_data.temperature;
accels[1] -= accel_temp_coeff[1] * mpu6000_data.temperature;
accels[2] -= accel_temp_coeff[2] * mpu6000_data.temperature;
accels[0] -= accel_temp_coeff.X * ctemp;
accels[1] -= accel_temp_coeff.Y * ctemp;
accels[2] -= accel_temp_coeff.Z * ctemp;
}
// gyrosData->temperature = 35.0f + ((float)mpu6000_data.temperature + 512.0f) / 340.0f;
// accelsData->temperature = 35.0f + ((float)mpu6000_data.temperature + 512.0f) / 340.0f;
@ -454,9 +460,9 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
gyros[2] = vec_out[2];
}
accelStateData->x = accels[0] - accel_bias[0];
accelStateData->y = accels[1] - accel_bias[1];
accelStateData->z = accels[2] - accel_bias[2];
accelStateData->x = accels[0] - accel_bias.X;
accelStateData->y = accels[1] - accel_bias.Y;
accelStateData->z = accels[2] - accel_bias.Z;
gyrosData->x = gyros[0];
gyrosData->y = gyros[1];
@ -631,57 +637,56 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
accel_filter_enabled = true;
}
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
gyro_temp_coeff[0] = accelGyroSettings.gyro_temp_coeff.X;
gyro_temp_coeff[1] = accelGyroSettings.gyro_temp_coeff.Y;
gyro_temp_coeff[2] = accelGyroSettings.gyro_temp_coeff.Z;
gyro_temp_coeff[3] = accelGyroSettings.gyro_temp_coeff.Z2;
memcpy(&gyro_temp_coeff, &accelGyroSettings.gyro_temp_coeff, sizeof(AccelGyroSettingsgyro_temp_coeffData));
memcpy(&accel_temp_coeff, &accelGyroSettings.accel_temp_coeff, sizeof(AccelGyroSettingsaccel_temp_coeffData));
accel_temp_coeff[0] = accelGyroSettings.accel_temp_coeff.X;
accel_temp_coeff[1] = accelGyroSettings.accel_temp_coeff.Y;
accel_temp_coeff[2] = accelGyroSettings.accel_temp_coeff.Z;
apply_gyro_temp = (fabsf(gyro_temp_coeff[0]) > 1e-6f ||
fabsf(gyro_temp_coeff[1]) > 1e-6f ||
fabsf(gyro_temp_coeff[2]) > 1e-6f ||
fabsf(gyro_temp_coeff[3]) > 1e-6f);
apply_gyro_temp = (fabsf(gyro_temp_coeff.X) > 1e-6f ||
fabsf(gyro_temp_coeff.Y) > 1e-6f ||
fabsf(gyro_temp_coeff.Z) > 1e-6f ||
fabsf(gyro_temp_coeff.X2) > 1e-6f ||
fabsf(gyro_temp_coeff.Y2) > 1e-6f ||
fabsf(gyro_temp_coeff.Z2) > 1e-6f);
apply_accel_temp = (fabsf(accel_temp_coeff[0]) > 1e-6f ||
fabsf(accel_temp_coeff[1]) > 1e-6f ||
fabsf(accel_temp_coeff[2]) > 1e-6f);
apply_accel_temp = (fabsf(accel_temp_coeff.X) > 1e-6f ||
fabsf(accel_temp_coeff.Y) > 1e-6f ||
fabsf(accel_temp_coeff.Z) > 1e-6f);
gyro_correct_int[0] = accelGyroSettings.gyro_bias.X;
gyro_correct_int[1] = accelGyroSettings.gyro_bias.Y;
gyro_correct_int[2] = accelGyroSettings.gyro_bias.Z;
temp_calibrated_extent.min = accelGyroSettings.temp_calibrated_extent.min;
temp_calibrated_extent.max = accelGyroSettings.temp_calibrated_extent.max;
if (BOARDISCC3D) {
accel_bias[0] = accelGyroSettings.accel_bias.X;
accel_bias[1] = accelGyroSettings.accel_bias.Y;
accel_bias[2] = accelGyroSettings.accel_bias.Z;
accel_bias.X = accelGyroSettings.accel_bias.X;
accel_bias.Y = accelGyroSettings.accel_bias.Y;
accel_bias.Z = accelGyroSettings.accel_bias.Z;
gyro_scale[0] = accelGyroSettings.gyro_scale.X * PIOS_MPU6000_GetScale();
gyro_scale[1] = accelGyroSettings.gyro_scale.Y * PIOS_MPU6000_GetScale();
gyro_scale[2] = accelGyroSettings.gyro_scale.Z * PIOS_MPU6000_GetScale();
gyro_scale.X = accelGyroSettings.gyro_scale.X * PIOS_MPU6000_GetScale();
gyro_scale.Y = accelGyroSettings.gyro_scale.Y * PIOS_MPU6000_GetScale();
gyro_scale.Z = accelGyroSettings.gyro_scale.Z * PIOS_MPU6000_GetScale();
accel_scale[0] = accelGyroSettings.accel_scale.X * PIOS_MPU6000_GetAccelScale();
accel_scale[1] = accelGyroSettings.accel_scale.Y * PIOS_MPU6000_GetAccelScale();
accel_scale[2] = accelGyroSettings.accel_scale.Z * PIOS_MPU6000_GetAccelScale();
accel_scale.X = accelGyroSettings.accel_scale.X * PIOS_MPU6000_GetAccelScale();
accel_scale.Y = accelGyroSettings.accel_scale.Y * PIOS_MPU6000_GetAccelScale();
accel_scale.Z = accelGyroSettings.accel_scale.Z * PIOS_MPU6000_GetAccelScale();
} else {
// Original CC with analog gyros and ADXL accel
accel_bias[0] = accelGyroSettings.accel_bias.X;
accel_bias[1] = accelGyroSettings.accel_bias.Y;
accel_bias[2] = accelGyroSettings.accel_bias.Z;
accel_bias.X = accelGyroSettings.accel_bias.X;
accel_bias.Y = accelGyroSettings.accel_bias.Y;
accel_bias.Z = accelGyroSettings.accel_bias.Z;
gyro_scale[0] = accelGyroSettings.gyro_scale.X * STD_CC_ANALOG_GYRO_GAIN;
gyro_scale[1] = accelGyroSettings.gyro_scale.Y * STD_CC_ANALOG_GYRO_GAIN;
gyro_scale[2] = accelGyroSettings.gyro_scale.Z * STD_CC_ANALOG_GYRO_GAIN;
gyro_scale.X = accelGyroSettings.gyro_scale.X * STD_CC_ANALOG_GYRO_GAIN;
gyro_scale.Y = accelGyroSettings.gyro_scale.Y * STD_CC_ANALOG_GYRO_GAIN;
gyro_scale.Z = accelGyroSettings.gyro_scale.Z * STD_CC_ANALOG_GYRO_GAIN;
accel_scale[0] = accelGyroSettings.accel_scale.X * STD_CC_ACCEL_SCALE;
accel_scale[1] = accelGyroSettings.accel_scale.Y * STD_CC_ACCEL_SCALE;
accel_scale[2] = accelGyroSettings.accel_scale.Z * STD_CC_ACCEL_SCALE;
accel_scale.X = accelGyroSettings.accel_scale.X * STD_CC_ACCEL_SCALE;
accel_scale.Y = accelGyroSettings.accel_scale.Y * STD_CC_ACCEL_SCALE;
accel_scale.Z = accelGyroSettings.accel_scale.Z * STD_CC_ACCEL_SCALE;
}
// Indicates not to expend cycles on rotation