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Fixes helio attitude estimation #886

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merged 4 commits into from
May 11, 2023
Merged

Fixes helio attitude estimation #886

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b2ba99a
Update gyro.c
Quick-Flash May 8, 2023
d77435a
Merge branch 'master' into fix-attitude-estimation-for-helio
nerdCopter May 8, 2023
35c178e
scale ACC for Helio too
nerdCopter May 6, 2023
e0be73f
scale Helio gyro sensor rendering
nerdCopter May 10, 2023
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8 changes: 6 additions & 2 deletions src/main/interface/msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -745,20 +745,24 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
case MSP_RAW_IMU: {
// Hack scale due to choice of units for sensor data in multiwii
uint8_t scale = 1;
#ifndef USE_GYRO_IMUF9001
//#ifndef USE_GYRO_IMUF9001
if (acc.dev.acc_1G > 512 * 4) {
scale = 8;
} else if (acc.dev.acc_1G > 512 * 2) {
scale = 4;
} else if (acc.dev.acc_1G >= 512) {
scale = 2;
}
#endif //USE_GYRO_IMUF9001
//#endif //USE_GYRO_IMUF9001
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, lrintf(acc.accADC[i] / scale));
}
for (int i = 0; i < 3; i++) {
#ifdef USE_GYRO_IMUF9001
sbufWriteU16(dst, gyroRateDps(i) * scale);
#else
sbufWriteU16(dst, gyroRateDps(i));
#endif
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, lrintf(mag.magADC[i]));
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17 changes: 6 additions & 11 deletions src/main/sensors/gyro.c
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Expand Up @@ -1141,11 +1141,6 @@ static FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t* gyroSensor, timeUs
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// NOTE: this branch optimized for when there is no gyro debugging, ensure it is kept in step with non-optimized branch
DEBUG_SET(DEBUG_GYRO_SCALED, axis, lrintf(gyroSensor->gyroDev.gyroADCf[axis]));
if (!gyroSensor->overflowDetected) {
// integrate using trapezium rule to avoid bias
accumulatedMeasurements[axis] += 0.5f * (gyroPrevious[axis] + gyro.gyroADCf[axis]) * gyro.targetLooptime;
gyroPrevious[axis] = gyroSensor->gyroDev.gyroADCf[axis];
}
}
if (!isGyroSensorCalibrationComplete(gyroSensor)) {
performGyroCalibration(gyroSensor, gyroConfig()->gyroMovementCalibrationThreshold);
Expand Down Expand Up @@ -1298,7 +1293,7 @@ FAST_CODE_NOINLINE void gyroUpdate(timeUs_t currentTimeUs) {
if (!overflowDetected) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// integrate using trapezium rule to avoid bias
accumulatedMeasurements[axis] += 0.5f * (gyroPrevious[axis] + gyro.gyroADCf[axis]) * gyro.targetLooptime;
accumulatedMeasurements[axis] += (gyroPrevious[axis] + gyro.gyroADCf[axis]);
gyroPrevious[axis] = gyro.gyroADCf[axis];
}
accumulatedMeasurementCount++;
Expand All @@ -1307,11 +1302,11 @@ FAST_CODE_NOINLINE void gyroUpdate(timeUs_t currentTimeUs) {

bool gyroGetAverage(quaternion *vAverage) {
if (accumulatedMeasurementCount) {
const timeUs_t accumulatedMeasurementTimeUs = accumulatedMeasurementCount * gyro.targetLooptime;
const timeUs_t accumulatedMeasurementTimeUs = accumulatedMeasurementCount;
vAverage->w = 0;
vAverage->x = DEGREES_TO_RADIANS(accumulatedMeasurements[X] / accumulatedMeasurementTimeUs);
vAverage->y = DEGREES_TO_RADIANS(accumulatedMeasurements[Y] / accumulatedMeasurementTimeUs);
vAverage->z = DEGREES_TO_RADIANS(accumulatedMeasurements[Z] / accumulatedMeasurementTimeUs);
vAverage->x = 0.5f * DEGREES_TO_RADIANS(accumulatedMeasurements[X] / accumulatedMeasurementTimeUs);
vAverage->y = 0.5f * DEGREES_TO_RADIANS(accumulatedMeasurements[Y] / accumulatedMeasurementTimeUs);
vAverage->z = 0.5f * DEGREES_TO_RADIANS(accumulatedMeasurements[Z] / accumulatedMeasurementTimeUs);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulatedMeasurements[axis] = 0.0f;
}
Expand Down Expand Up @@ -1413,4 +1408,4 @@ void initYawSpinRecovery(int maxYawRate)
yawSpinRecoveryEnabled = enabledFlag;
yawSpinRecoveryThreshold = threshold;
}
#endif
#endif