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https://github.com/k3ng/k3ng_rotator_controller.git
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2.0.2015040401
Changed configuration.azimuth_offset to use raw_azimuth rather than azimuth for calculation
This commit is contained in:
Anthony Good
parent
8d22d9b341
commit
6947468b39
@ -349,10 +349,13 @@
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Change /E command to do setup() for system reset
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Fixed calculation issues with FEATURE_ELEVATION_CORRECTION
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Fixed bug with FEATURE_AZIMUTH_CORRECTION and FEATURE_ELEVATION_CORRECTION rounding off to nearest degree
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Change configuration.azimuth_offset to use raw_azimuth rather than azimuth for calculation
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*/
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#define CODE_VERSION "2.0.2015032801"
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#define CODE_VERSION "2.0.2015040401"
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#include <avr/pgmspace.h>
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#include <EEPROM.h>
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@ -4249,7 +4252,7 @@ void read_azimuth(byte force_read){
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//raw_azimuth = map(analog_az* HEADING_MULTIPLIER, configuration.analog_az_full_ccw* HEADING_MULTIPLIER, configuration.analog_az_full_cw* HEADING_MULTIPLIER, (azimuth_starting_point * HEADING_MULTIPLIER), ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER));
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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if (AZIMUTH_SMOOTHING_FACTOR > 0) {
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@ -4292,7 +4295,7 @@ void read_azimuth(byte force_read){
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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@ -4365,7 +4368,7 @@ void read_azimuth(byte force_read){
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
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@ -4399,7 +4402,7 @@ void read_azimuth(byte force_read){
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raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
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}
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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azimuth = raw_azimuth;
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@ -4418,7 +4421,7 @@ void read_azimuth(byte force_read){
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if (heading > 2 * PI) heading -= 2 * PI;
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raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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if (AZIMUTH_SMOOTHING_FACTOR > 0) {
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@ -4474,7 +4477,7 @@ void read_azimuth(byte force_read){
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*/
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raw_azimuth = heading * HEADING_MULTIPLIER ; // pololu library returns float value of actual heading.
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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if (AZIMUTH_SMOOTHING_FACTOR > 0) {
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@ -4510,7 +4513,7 @@ void read_azimuth(byte force_read){
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last_az_position_pulse_input_azimuth = az_position_pulse_input_azimuth;
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raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
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@ -4531,7 +4534,7 @@ void read_azimuth(byte force_read){
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}
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#endif // DEBUG_HH12
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
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@ -4556,7 +4559,7 @@ void read_azimuth(byte force_read){
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}
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}
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#ifdef FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = (correct_azimuth(raw_azimuth / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_AZIMUTH_CORRECTION
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raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
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if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
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@ -5202,7 +5205,7 @@ void read_elevation(byte force_read){
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analog_el = analogReadEnhanced(rotator_analog_el);
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elevation = (map(analog_el, configuration.analog_el_0_degrees, configuration.analog_el_max_elevation, 0, (ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER)));
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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if (ELEVATION_SMOOTHING_FACTOR > 0) {
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@ -5245,7 +5248,7 @@ void read_elevation(byte force_read){
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#endif
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elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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configuration_dirty = 1;
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}
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@ -5263,7 +5266,7 @@ void read_elevation(byte force_read){
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#endif // DEBUG_ACCEL
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elevation = (atan2(scaled.YAxis, scaled.ZAxis) * 180 * HEADING_MULTIPLIER) / M_PI;
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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if (ELEVATION_SMOOTHING_FACTOR > 0) {
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@ -5282,7 +5285,7 @@ void read_elevation(byte force_read){
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#endif // DEBUG_ACCEL
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elevation = (atan2(event.acceleration.y, event.acceleration.z) * 180 * HEADING_MULTIPLIER) / M_PI;
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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#endif // FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
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@ -5301,7 +5304,7 @@ void read_elevation(byte force_read){
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#endif // DEBUG_ACCEL
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elevation = (atan2(lsm.accelData.y, lsm.accelData.z) * 180 * HEADING_MULTIPLIER) / M_PI;
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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#endif // FEATURE_EL_POSITION_ADAFRUIT_LSM303
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@ -5318,7 +5321,7 @@ void read_elevation(byte force_read){
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#endif // DEBUG_ACCEL
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elevation = (atan2(compass.a.x, compass.a.z) * -180 * HEADING_MULTIPLIER) / M_PI; //lsm.accelData.y
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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#endif // FEATURE_EL_POSITION_POLOLU_LSM303
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@ -5347,7 +5350,7 @@ void read_elevation(byte force_read){
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last_el_position_pulse_input_elevation = el_position_pulse_input_elevation;
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elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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}
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@ -5373,7 +5376,7 @@ void read_elevation(byte force_read){
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#endif // DEBUG_HEADING_READING_TIME
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elevation = remote_unit_command_result_float * HEADING_MULTIPLIER;
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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if (ELEVATION_SMOOTHING_FACTOR > 0) {
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@ -5402,7 +5405,7 @@ void read_elevation(byte force_read){
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}
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#endif // DEBUG_HH12
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
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if (elevation > (180 * HEADING_MULTIPLIER)) {
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@ -5414,7 +5417,7 @@ void read_elevation(byte force_read){
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#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
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elevation = ((((el_incremental_encoder_position) / (EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0) * HEADING_MULTIPLIER);
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif // FEATURE_ELEVATION_CORRECTION
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if (incremental_encoder_previous_elevation != elevation) {
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configuration.last_el_incremental_encoder_position = el_incremental_encoder_position;
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@ -5435,7 +5438,7 @@ void read_elevation(byte force_read){
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#endif //DEBUG_MEMSIC_2125
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elevation = Yangle * HEADING_MULTIPLIER;
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#ifdef FEATURE_ELEVATION_CORRECTION
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elevation = (correct_elevation(elevation / HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
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#endif //FEATURE_ELEVATION_CORRECTION
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#endif //FEATURE_EL_POSITION_MEMSIC_2125
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@ -8441,12 +8444,10 @@ float correct_elevation(float elevation_in){
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return (elevation_in - elevation_calibration_from[x]) * (elevation_calibration_to[x+1] - elevation_calibration_to[x]) / (elevation_calibration_from[x + 1] - elevation_calibration_from[x]) + elevation_calibration_to[x];
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}
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}
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return(elevation_in);
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//return 123;
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}
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#endif // FEATURE_ELEVATION_CORRECTION
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// --------------------------------------------------------------------------
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@ -9498,7 +9499,7 @@ byte calibrate_az_el(float new_az, float new_el){
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#endif // DEBUG_OFFSET
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configuration.azimuth_offset = new_az - (float(azimuth) / float(HEADING_MULTIPLIER));
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configuration.azimuth_offset = new_az - (float(raw_azimuth) / float(HEADING_MULTIPLIER));
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#if defined(FEATURE_ELEVATION_CONTROL)
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configuration.elevation_offset = new_el - (float(elevation) / float(HEADING_MULTIPLIER));
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#endif
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@ -9699,7 +9700,7 @@ byte process_backslash_command(byte input_buffer[], int input_buffer_index, byte
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if ((tempfloat >= 0) && (tempfloat <= 360)) {
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configuration.azimuth_offset = 0;
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read_azimuth(1);
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configuration.azimuth_offset = tempfloat - float(azimuth / HEADING_MULTIPLIER);
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configuration.azimuth_offset = tempfloat - float(raw_azimuth / HEADING_MULTIPLIER);
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configuration_dirty = 1;
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strcpy(return_string, "Azimuth calibrated to ");
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dtostrf(tempfloat, 0, 2, temp_string);
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@ -109,9 +109,9 @@
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#endif //FEATURE_AZ_POSITION_HH_12
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#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
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#define el_hh12_clock_pin 11 //53 //11
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#define el_hh12_cs_pin 12 //52 //12
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#define el_hh12_data_pin 13 //51 //13
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#define el_hh12_clock_pin 53 //11
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#define el_hh12_cs_pin 52 //12
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#define el_hh12_data_pin 51 //13
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#endif //FEATURE_EL_POSITION_HH_12
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#ifdef FEATURE_PARK
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