From be67b4e7a723fffc90f47a4c26bd73ce7bc851ad Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 18 Feb 2013 18:54:54 +0100
Subject: [PATCH] [AOA] some cleaning of the angle of attack module

---
 conf/airframes/ENAC/fixed-wing/mythe.xml |  3 --
 conf/modules/AOA_adc.xml                 |  5 ++-
 sw/airborne/modules/sensors/AOA_adc.c    | 51 +++++++++++++++++-------
 sw/airborne/modules/sensors/AOA_adc.h    | 25 +++++++++---
 4 files changed, 59 insertions(+), 25 deletions(-)

diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
index 756f588cb4..fb04ac94e3 100644
--- a/conf/airframes/ENAC/fixed-wing/mythe.xml
+++ b/conf/airframes/ENAC/fixed-wing/mythe.xml
@@ -17,8 +17,6 @@
     </load>
     <load name="AOA_adc.xml">
       <configure name="ADC_AOA" value="ADC_2"/>
-      <define name="AOA_OFFSET" value="0"/>
-      <define name="AOA_FILTER" value="0.5"/>
     </load>
     <!--load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
@@ -164,7 +162,6 @@
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
     <define name="MilliAmpereOfAdc(_adc)" value="(_adc-158)*16.5698"/>
   </section>
diff --git a/conf/modules/AOA_adc.xml b/conf/modules/AOA_adc.xml
index bf1d83493b..fd42c505be 100644
--- a/conf/modules/AOA_adc.xml
+++ b/conf/modules/AOA_adc.xml
@@ -3,7 +3,10 @@
 <module name="AOA_adc" dir="sensors">
   <doc>
     <description>Angle of Attack using internal ADC</description>
-    <configure name="ADC_AOA" value="ADCX" description="select the ADC channel to use"/>
+    <configure name="ADC_AOA" value="ADC_X" description="select the ADC channel to use"/>
+    <define name="AOA_SENS" value="(2*3.14)/1024" description="sensor sensitivity"/>
+    <define name="AOA_OFFSET" value="3.14"  description="offset in radians"/>
+    <define name="AOA_FILTER" value="0.5" description="filtering parameter between 0 (no filtering) and 1"/>
   </doc>
 
   <header>
diff --git a/sw/airborne/modules/sensors/AOA_adc.c b/sw/airborne/modules/sensors/AOA_adc.c
index be84620009..bebcbe02fb 100644
--- a/sw/airborne/modules/sensors/AOA_adc.c
+++ b/sw/airborne/modules/sensors/AOA_adc.c
@@ -1,10 +1,6 @@
 /*
  * Copyright (C) 2010 The Paparazzi Team
  *
- * Autor: Bruzzlee
- * Angle of Attack ADC Sensor
- * US DIGITAL MA3-A10-236-N
- *
  * This file is part of paparazzi.
  *
  * paparazzi is free software; you can redistribute it and/or modify
@@ -24,26 +20,51 @@
  *
  */
 
+/**
+ * @file modules/sensors/AOA_adc.c
+ * @brief Angle of Attack sensor on ADC
+ * Autor: Bruzzlee
+ *
+ * ex: US DIGITAL MA3-A10-236-N
+ */
+
 #include "modules/sensors/AOA_adc.h"
-#include "mcu_periph/adc.h"
-#include BOARD_CONFIG
 #include "generated/airframe.h"
 #include "state.h"
-#include "std.h"
-//Messages
+
+// Messages
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
 
-uint16_t adc_AOA_val;
+// Default offset value (assuming 0 AOA is in the middle of the range)
+#ifndef AOA_OFFSET
+#define AOA_OFFSET M_PI
+#endif
+// Default filter value
+#ifndef AOA_FILTER
+#define AOA_FILTER 0.5
+#endif
+// Default sensitivity (2*pi on a 10 bit ADC)
+#ifndef AOA_SENS
+#define AOA_SENS ((2.0*M_PI)/1024)
+#endif
 
-//Downlink
+uint16_t adc_AOA_val;
+float AOA_offset, AOA_filter;
+
+// Internal values
+float AOA, AOA_old;
+
+// Downlink
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
 #ifndef SITL // Use ADC if not in simulation
 
+#include "mcu_periph/adc.h"
+
 #ifndef ADC_CHANNEL_AOA
 #error "ADC_CHANNEL_AOA needs to be defined to use AOA_adc module"
 #endif
@@ -53,15 +74,14 @@ uint16_t adc_AOA_val;
 #endif
 
 struct adc_buf buf_AOA;
-float AOA_offset, AOA_filter;
-float AOA, AOA_old;
 #endif
 
 
 void AOA_adc_init( void ) {
 	AOA_offset = AOA_OFFSET;
 	AOA_filter = AOA_FILTER;
-	AOA_old = 0;
+	AOA_old = 0.0;
+  AOA = 0.0;
 #ifndef SITL
 	adc_buf_channel(ADC_CHANNEL_AOA, &buf_AOA, ADC_CHANNEL_AOA_NB_SAMPLES);
 #endif
@@ -71,8 +91,8 @@ void AOA_adc_update( void ) {
 #ifndef SITL
 	adc_AOA_val = buf_AOA.sum / buf_AOA.av_nb_sample;
 
-// 	PT1 filter and convert to rad
-	AOA = AOA_filter * AOA_old + (1 - AOA_filter) * (adc_AOA_val*(2*M_PI)/1024-M_PI+AOA_offset);
+  // PT1 filter and convert to rad
+	AOA = AOA_filter * AOA_old + (1 - AOA_filter) * (adc_AOA_val*AOA_SENS - AOA_offset);
 	AOA_old = AOA;
 #endif
 	RunOnceEvery(30, DOWNLINK_SEND_AOA_adc(DefaultChannel, DefaultDevice, &adc_AOA_val, &AOA));
@@ -81,3 +101,4 @@ void AOA_adc_update( void ) {
 	stateSetAngleOfAttack_f(AOA);
 #endif
 }
+
diff --git a/sw/airborne/modules/sensors/AOA_adc.h b/sw/airborne/modules/sensors/AOA_adc.h
index ae8bafbe91..8ab1741173 100644
--- a/sw/airborne/modules/sensors/AOA_adc.h
+++ b/sw/airborne/modules/sensors/AOA_adc.h
@@ -1,10 +1,6 @@
 /*
  * Copyright (C) 2010 The Paparazzi Team
  *
- * Autor: Bruzzlee
- * Angle of Attack ADC Sensor
- * US DIGITAL MA3-A10-236-N
- *
  * This file is part of paparazzi.
  *
  * paparazzi is free software; you can redistribute it and/or modify
@@ -24,13 +20,30 @@
  *
  */
 
+/**
+ * @file modules/sensors/AOA_adc.c
+ * @brief Angle of Attack sensor on ADC
+ * Autor: Bruzzlee
+ *
+ * ex: US DIGITAL MA3-A10-236-N
+ */
+
 #ifndef AOA_ADC_H
 #define AOA_ADC_H
 
-#include <inttypes.h>
+#include "std.h"
 
+/** Raw ADC value */
 extern uint16_t adc_AOA_val;
-extern float AOA_offset, AOA_filter;
+
+/** Angle of Attack offset */
+extern float AOA_offset;
+
+/** Filtering value [0-1[
+ * 0: no filtering
+ * 1: output is a constant value
+ */
+extern float AOA_filter;
 
 void AOA_adc_init( void );
 void AOA_adc_update( void );