Overview of Register Usage
Prefilter
Acc Prefilter
Input registers:
- REG_raw_accX (int16)
- REG_raw_accY (int16)
- REG_raw_accZ (int16)
Ouput registers:
- REG_accX
- REG_accY
- REG_accZ
Parameters:
- PER_accX_off
- PER_accY_off
- PER_accZ_off
- PER_acc_scale
Gyro Prefilter
Input registers:
- REG_raw_gyro_pitch (uint16)
- REG_raw_gyro_roll (uint16)
- REG_raw_gyro_yaw (uint16)
Ouput registers:
- REG_gyroX
- REG_gyroY
- REG_gyroZ
Parameters:
- PER_gyroP_off
- PER_gyroR_off
- PER_gyroY_off
- PER_gyro_scale
Main Filters
Orientation Kalman
Input registers:
- REG_gyroX
- REG_gyroY
- REG_gyroZ
- REG_phi_x
- REG_phi_y
- REG_phi_z
- REG_bias_x
- REG_bias_y
- REG_bias_z
Ouput registers:
- REG_phi_x
- REG_phi_y
- REG_phi_z
- REG_bias_x
- REG_bias_y
- REG_bias_z
- REG_omega_x
- REG_omega_y
- REG_omega_z
Parameters:
Controller
LQR
Input registers:
- REG_stick_pitch (int16)
- REG_stick_roll (int16)
- REG_stick_gas (int16)
- REG_stick_yaw (int16)
- REG_phi_x
- REG_phi_y
- REG_phi_z
- REG_omega_x
- REG_omega_y
- REG_omega_z
Ouput registers:
- REG_thrust_front
- REG_thrust_rear
- REG_thrust_left
- REG_thrust_right
Parameters:
- REG_lqr_K11
- REG_lqr_K12
- REG_lqr_K13
- REG_lqr_K14
- REG_lqr_K15
- REG_lqr_K16
Post processing
Motor thrust calculation
Input registers:
- REG_thrust_front
- REG_thrust_rear
- REG_thrust_left
- REG_thrust_right
Ouput registers:
- REG_cmd_front (uint8)
- REG_cmd_rear (uint8)
- REG_cmd_left (uint8)
- REG_cmd_right (uint8)
QCopter/RegisterUsage (last edited 2008-12-29 13:40:01 by StefanEngelke)
