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This diff has been restricted to the following files: 'dcm.c'
# # old_revision [d0420ebd87c820e33a32b29727989516e15980a8] # new_revision [be147b11caac304fda1579ac71017eecc3bb79e0] # # patch "dcm.c" # from [34486e2e7948509c6f2648d365feb84c22ab5b14] # to [90d94d47a262c72d472ee7aca36bb55e2b328e66] # ============================================================ --- dcm.c 34486e2e7948509c6f2648d365feb84c22ab5b14 +++ dcm.c 90d94d47a262c72d472ee7aca36bb55e2b328e66 @@ -9,6 +9,8 @@ #include "dcm.h" #include "uart.h" #include "motor.h" +#include "status.h" +#include "abs.h" #define GRAVITY 9.80665f @@ -17,6 +19,10 @@ #define ERROR_LIMIT 1.17f +/* Maximum allowed error for arming */ +#define ERROR_THRESHOLD 0.20f + + /* Implementation of the DCM IMU concept as described by Premerlani * and Bizard */ @@ -173,6 +179,15 @@ void dcm_drift_correction(float x, float error[1] = dcm[8]*x - dcm[6]*z; error[2] = dcm[6]*y - dcm[7]*x; + if (!status_armed()) { + if ((abs(error[0]) < ERROR_THRESHOLD) && + (abs(error[1]) < ERROR_THRESHOLD) && + (abs(error[2]) < ERROR_THRESHOLD)) + status_set_ready(STATUS_MODULE_DCM_ERROR, TRUE); + else + status_set_ready(STATUS_MODULE_DCM_ERROR, FALSE); + } + for (i = 0; i < 3; i++) { if (error[i] > ERROR_LIMIT) error[i] = ERROR_LIMIT; @@ -208,6 +223,9 @@ void dcm_drift_correction(float x, float #endif } +/* Maximum angle to the horizontal for arming: 30 degrees */ +#define ATTITUDE_THRESHOLD (0.5) + void dcm_attitude_error(float roll, float pitch, float yaw) { /* dcm[6] = sine of pitch */ @@ -221,6 +239,14 @@ void dcm_attitude_error(float roll, floa /* TODO: What if we are upside down? */ + if (!status_armed()) { + if ((abs(dcm[6]) < ATTITUDE_THRESHOLD) && + (abs(dcm[7]) < ATTITUDE_THRESHOLD)) + status_set_ready(STATUS_MODULE_ATTITUDE, TRUE); + else + status_set_ready(STATUS_MODULE_ATTITUDE, FALSE); + } + motor_pid_update(roll, dcm[6], pitch, -dcm[7], yaw, -omega_z); }