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New radio, new calibration values.

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Oh, and code to make the calibration easier/possible.
This commit is contained in:
Gavan Fantom
2013-04-07 00:17:31 +00:00
parent 17a2289eff
commit 2fa58944fa
2 changed files with 46 additions and 13 deletions
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4
Makefile
View File

@@ -7,7 +7,7 @@ CSRCS=main.c i2c.c wmp.c timer.c interrupt.c uart.c event.c matrix.c dcm.c
CSRCS+=fisqrt.c stick.c trig.c motor.c led.c watchdog.c panic.c status.c CSRCS+=fisqrt.c stick.c trig.c motor.c led.c watchdog.c panic.c status.c
CSRCS+=thrust.c CSRCS+=thrust.c
#PROJOPTS=-DUSE_UART -DSEND_DCM #PROJOPTS=-DUSE_UART -DSEND_DCM -DSTICK_DEBUG_CALIBRATE
COPTIM?=-O1 COPTIM?=-O1
CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS) CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS)
@@ -37,6 +37,8 @@ OBJS=$(SOBJS) $(COBJS)
.SUFFIXES: .elf .hex .bin .SUFFIXES: .elf .hex .bin
$(OBJS): Makefile
$(NAME).elf: $(OBJS) $(NAME).elf: $(OBJS)
$(CC) $(CFLAGS) -nostdlib -nostartfiles -T $(LDSCRIPT) -Wl,-Map -Wl,$(NAME).map -o $(NAME).elf $(OBJS) -lgcc $(CC) $(CFLAGS) -nostdlib -nostartfiles -T $(LDSCRIPT) -Wl,-Map -Wl,$(NAME).map -o $(NAME).elf $(OBJS) -lgcc

55
stick.c
View File

@@ -19,25 +19,32 @@
#define TWO_PI 6.28318531f #define TWO_PI 6.28318531f
#define PI 3.14159265f #define PI 3.14159265f
#define MIN_X 15830 #define MIN_X 14700
#define MAX_X 28300 #define MAX_X 29700
#define CENTRE_X 22100 #define CENTRE_X 22200
#define MIN_Y 18530 #define MIN_Y 14700
#define MAX_Y 28200 #define MAX_Y 29700
#define CENTRE_Y 22100 #define CENTRE_Y 22200
#define MIN_Z 15800 #define MIN_Z 14700
#define MAX_Z 28304 #define MAX_Z 29700
#define CENTRE_Z 22100 #define CENTRE_Z 22200
#define MIN_THR 16500 #define MIN_THR 15700
#define MAX_THR 28275 #define MAX_THR 29700
#define MIN_REAL_THR 15830 #define MIN_REAL_THR 14700
#define CENTRE_ZONE 100 #define CENTRE_ZONE 100
/* With new TX firmware:
* x y thr z
* centre: 22192, 22222, 14687, 22196
* min: 14686, 14701, 14686, 14687
* max: 29740, 29740, 29725, 29725
*/
/* Full scale is a roll/pitch angle of 30 degrees from the vertical */ /* Full scale is a roll/pitch angle of 30 degrees from the vertical */
#define SCALE_X (TWO_PI*30.0/360.0 / (MAX_X-CENTRE_X)) #define SCALE_X (TWO_PI*30.0/360.0 / (MAX_X-CENTRE_X))
#define SCALE_Y (TWO_PI*30.0/360.0 / (MAX_Y-CENTRE_Y)) #define SCALE_Y (TWO_PI*30.0/360.0 / (MAX_Y-CENTRE_Y))
@@ -77,6 +84,25 @@ void stick_update(float x, float y, float z)
dcm_attitude_error(x, y, z); dcm_attitude_error(x, y, z);
} }
#ifdef STICK_DEBUG_CALIBRATE
void stick_debug_calibrate()
{
unsigned int t1 = timer_input(0);
unsigned int t2 = timer_input(1);
unsigned int t3 = timer_input(2);
unsigned int t4 = timer_input(3);
putstr("S:(");
putint(t1);
putstr(",");
putint(t2);
putstr(",");
putint(t3);
putstr(",");
putint(t4);
putstr(")\r\n");
}
#endif
void stick_input(void) { void stick_input(void) {
float x, y, z, throttle; float x, y, z, throttle;
if (timer_allvalid()) { if (timer_allvalid()) {
@@ -85,6 +111,11 @@ void stick_input(void) {
throttle = timer_input(2); throttle = timer_input(2);
z = timer_input(3); z = timer_input(3);
#ifdef STICK_DEBUG_CALIBRATE
if ((stick_counter % 20) == 0)
stick_debug_calibrate();
#endif
if (!status_armed()) { if (!status_armed()) {
if ((throttle < MIN_THR) && if ((throttle < MIN_THR) &&
(x > (CENTRE_X - CENTRE_ZONE)) && (x > (CENTRE_X - CENTRE_ZONE)) &&