ardupilot/ArduCopter/Attitude.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

static void
get_stabilize_roll(int32_t target_angle)
{
    // angle error
    target_angle            = wrap_180(target_angle - ahrs.roll_sensor);

#if FRAME_CONFIG == HELI_FRAME

    // limit the error we're feeding to the PID
    target_angle            = constrain(target_angle, -4500, 4500);

    // convert to desired Rate:
    target_angle            = g.pi_stabilize_roll.get_pi(target_angle, G_Dt);

    // output control - we do not use rate controllers for helicopters so send directly to servos
    g.rc_1.servo_out = constrain(target_angle, -4500, 4500);
#else

    // convert to desired Rate:
    int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);

    int16_t i_stab;
    if(labs(ahrs.roll_sensor) < 500) {
        target_angle            = constrain(target_angle, -500, 500);
        i_stab                          = g.pi_stabilize_roll.get_i(target_angle, G_Dt);
    }else{
        i_stab                          = g.pi_stabilize_roll.get_integrator();
    }

    // set targets for rate controller
    set_roll_rate_target(target_rate+i_stab, EARTH_FRAME);
#endif
}

static void
get_stabilize_pitch(int32_t target_angle)
{
    // angle error
    target_angle            = wrap_180(target_angle - ahrs.pitch_sensor);

#if FRAME_CONFIG == HELI_FRAME
    // limit the error we're feeding to the PID
    target_angle            = constrain(target_angle, -4500, 4500);

    // convert to desired Rate:
    target_angle            = g.pi_stabilize_pitch.get_pi(target_angle, G_Dt);

    // output control - we do not use rate controllers for helicopters so send directly to servos
    g.rc_2.servo_out = constrain(target_angle, -4500, 4500);
#else

    // convert to desired Rate:
    int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle);

    int16_t i_stab;
    if(labs(ahrs.pitch_sensor) < 500) {
        target_angle            = constrain(target_angle, -500, 500);
        i_stab                          = g.pi_stabilize_pitch.get_i(target_angle, G_Dt);
    }else{
        i_stab                          = g.pi_stabilize_pitch.get_integrator();
    }

    // set targets for rate controller
    set_pitch_rate_target(target_rate + i_stab, EARTH_FRAME);
#endif
}

static void
get_stabilize_yaw(int32_t target_angle)
{
    int32_t target_rate,i_term;
    int32_t angle_error;
    int32_t output = 0;

    // angle error
    angle_error             = wrap_180(target_angle - ahrs.yaw_sensor);

    // limit the error we're feeding to the PID
#if FRAME_CONFIG == HELI_FRAME
    angle_error             = constrain(angle_error, -4500, 4500);
#else
    angle_error             = constrain(angle_error, -4000, 4000);
#endif

    // convert angle error to desired Rate:
    target_rate = g.pi_stabilize_yaw.get_p(angle_error);
    i_term = g.pi_stabilize_yaw.get_i(angle_error, G_Dt);

    // do not use rate controllers for helicotpers with external gyros
#if FRAME_CONFIG == HELI_FRAME
    if(motors.ext_gyro_enabled) {
        g.rc_4.servo_out = constrain((target_rate + i_term), -4500, 4500);
    }
#endif

#if LOGGING_ENABLED == ENABLED
    static int8_t log_counter = 0;              // used to slow down logging of PID values to dataflash
    // log output if PID logging is on and we are tuning the yaw
    if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
        log_counter++;
        if( log_counter >= 10 ) {               // (update rate / desired output rate) = (100hz / 10hz) = 10
            log_counter = 0;
            Log_Write_PID(CH6_YAW_KP, angle_error, target_rate, i_term, 0, output, tuning_value);
        }
    }
#endif

    // set targets for rate controller
    set_yaw_rate_target(target_rate+i_term, EARTH_FRAME);
}

static void
get_stabilize_rate_yaw(int32_t target_rate)
{
    target_rate = g.pi_stabilize_yaw.get_p(target_rate);

    // set targets for rate controller
    set_yaw_rate_target(target_rate, EARTH_FRAME);
}

static void
get_acro_roll(int32_t target_rate)
{
    target_rate = target_rate * g.acro_p;

    // set targets for rate controller
    set_roll_rate_target(target_rate, BODY_FRAME);
}

static void
get_acro_pitch(int32_t target_rate)
{
    target_rate = target_rate * g.acro_p;

    // set targets for rate controller
    set_pitch_rate_target(target_rate, BODY_FRAME);
}

static void
get_acro_yaw(int32_t target_rate)
{
    target_rate = target_rate * g.acro_p;

    // set targets for rate controller
    set_yaw_rate_target(target_rate, BODY_FRAME);
}

// Roll with rate input and stabilized in the earth frame
static void
get_roll_rate_stabilized_ef(int32_t stick_angle)
{
    int32_t angle_error = 0;

    // convert the input to the desired roll rate
    int32_t target_rate = stick_angle * g.acro_p - (roll_axis * ACRO_ROLL_STABILISE)/100;

    // convert the input to the desired roll rate
    roll_axis += target_rate * G_Dt;
    roll_axis = wrap_180(roll_axis);

    // ensure that we don't reach gimbal lock
    if (roll_axis > 4500 || roll_axis < -4500) {
        roll_axis	= constrain(roll_axis, -4500, 4500);
        angle_error = wrap_180(roll_axis - ahrs.roll_sensor);
    } else {
        // angle error with maximum of +- max_angle_overshoot
        angle_error = wrap_180(roll_axis - ahrs.roll_sensor);
        angle_error	= constrain(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
    }

    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !failsafe)) {
        angle_error = 0;
    }

    // update roll_axis to be within max_angle_overshoot of our current heading
    roll_axis = wrap_180(angle_error + ahrs.roll_sensor);

    // set earth frame targets for rate controller

    // set earth frame targets for rate controller
	set_roll_rate_target(g.pi_stabilize_roll.get_p(angle_error) + target_rate, EARTH_FRAME);
}

// Pitch with rate input and stabilized in the earth frame
static void
get_pitch_rate_stabilized_ef(int32_t stick_angle)
{
    int32_t angle_error = 0;

    // convert the input to the desired pitch rate
    int32_t target_rate = stick_angle * g.acro_p - (pitch_axis * ACRO_PITCH_STABILISE)/100;

    // convert the input to the desired pitch rate
    pitch_axis += target_rate * G_Dt;
    pitch_axis = wrap_180(pitch_axis);

    // ensure that we don't reach gimbal lock
    if (pitch_axis > 4500 || pitch_axis < -4500) {
        pitch_axis	= constrain(pitch_axis, -4500, 4500);
        angle_error = wrap_180(pitch_axis - ahrs.pitch_sensor);
    } else {
        // angle error with maximum of +- max_angle_overshoot
        angle_error = wrap_180(pitch_axis - ahrs.pitch_sensor);
        angle_error	= constrain(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
    }

    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !failsafe)) {
        angle_error = 0;
    }

    // update pitch_axis to be within max_angle_overshoot of our current heading
    pitch_axis = wrap_180(angle_error + ahrs.pitch_sensor);

    // set earth frame targets for rate controller
	set_pitch_rate_target(g.pi_stabilize_pitch.get_p(angle_error) + target_rate, EARTH_FRAME);
}

// Yaw with rate input and stabilized in the earth frame
static void
get_yaw_rate_stabilized_ef(int32_t stick_angle)
{

    int32_t angle_error = 0;

    // convert the input to the desired yaw rate
    int32_t target_rate = stick_angle * g.acro_p;

    // convert the input to the desired yaw rate
    nav_yaw += target_rate * G_Dt;
    nav_yaw = wrap_360(nav_yaw);

    // calculate difference between desired heading and current heading
    angle_error = wrap_180(nav_yaw - ahrs.yaw_sensor);

    // limit the maximum overshoot
    angle_error	= constrain(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);

    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !failsafe)) {
    	angle_error = 0;
    }

    // update nav_yaw to be within max_angle_overshoot of our current heading
    nav_yaw = wrap_360(angle_error + ahrs.yaw_sensor);

    // set earth frame targets for rate controller
	set_yaw_rate_target(g.pi_stabilize_yaw.get_p(angle_error)+target_rate, EARTH_FRAME);
}

// set_roll_rate_target - to be called by upper controllers to set roll rate targets in the earth frame
void set_roll_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
    rate_targets_frame = earth_or_body_frame;
    if( earth_or_body_frame == BODY_FRAME ) {
        roll_rate_target_bf = desired_rate;
    }else{
        roll_rate_target_ef = desired_rate;
    }
}

// set_pitch_rate_target - to be called by upper controllers to set pitch rate targets in the earth frame
void set_pitch_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
    rate_targets_frame = earth_or_body_frame;
    if( earth_or_body_frame == BODY_FRAME ) {
        pitch_rate_target_bf = desired_rate;
    }else{
        pitch_rate_target_ef = desired_rate;
    }
}

// set_yaw_rate_target - to be called by upper controllers to set yaw rate targets in the earth frame
void set_yaw_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
    rate_targets_frame = earth_or_body_frame;
    if( earth_or_body_frame == BODY_FRAME ) {
        yaw_rate_target_bf = desired_rate;
    }else{
        yaw_rate_target_ef = desired_rate;
    }
}

// update_rate_contoller_targets - converts earth frame rates to body frame rates for rate controllers
void
update_rate_contoller_targets()
{
    if( rate_targets_frame == EARTH_FRAME ) {
        // convert earth frame rates to body frame rates
        roll_rate_target_bf = roll_rate_target_ef - sin_pitch * yaw_rate_target_ef;
        pitch_rate_target_bf = cos_roll_x * pitch_rate_target_ef + sin_roll * cos_pitch_x * yaw_rate_target_ef;
        yaw_rate_target_bf = cos_pitch_x * cos_roll_x * yaw_rate_target_ef - sin_roll * pitch_rate_target_ef;
    }
}

// run roll, pitch and yaw rate controllers and send output to motors
// targets for these controllers comes from stabilize controllers
void
run_rate_controllers()
{
#if FRAME_CONFIG == HELI_FRAME          // helicopters only use rate controllers for yaw and only when not using an external gyro
    if(!motors.ext_gyro_enabled) {
        g.rc_4.servo_out = get_rate_yaw(yaw_rate_target_bf);
    }
#else
    // call rate controllers
    g.rc_1.servo_out = get_rate_roll(roll_rate_target_bf);
    g.rc_2.servo_out = get_rate_pitch(pitch_rate_target_bf);
    g.rc_4.servo_out = get_rate_yaw(yaw_rate_target_bf);
#endif
}

static int16_t
get_rate_roll(int32_t target_rate)
{
    static int32_t last_rate = 0;                                       // previous iterations rate
    int32_t p,i,d;                                                                      // used to capture pid values for logging
    int32_t current_rate;                                                       // this iteration's rate
    int32_t rate_error;                                                                 // simply target_rate - current_rate
    int32_t rate_d;                                                                     // roll's acceleration
    int32_t output;                                                                     // output from pid controller
    int32_t rate_d_dampener;                                                    // value to dampen output based on acceleration

    // get current rate
    current_rate    = (omega.x * DEGX100);

    // calculate and filter the acceleration
    rate_d                  = roll_rate_d_filter.apply(current_rate - last_rate);

    // store rate for next iteration
    last_rate               = current_rate;

    // call pid controller
    rate_error      = target_rate - current_rate;
    p                       = g.pid_rate_roll.get_p(rate_error);
    // freeze I term if we've breached roll-pitch limits
    if( motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) ) {
        i                       = g.pid_rate_roll.get_integrator();
    }else{
        i                       = g.pid_rate_roll.get_i(rate_error, G_Dt);
    }
    d                       = g.pid_rate_roll.get_d(rate_error, G_Dt);
    output          = p + i + d;

    // Dampening output with D term
    rate_d_dampener = rate_d * roll_scale_d;
    rate_d_dampener = constrain(rate_d_dampener, -400, 400);
    output -= rate_d_dampener;

    // constrain output
    output = constrain(output, -5000, 5000);

#if LOGGING_ENABLED == ENABLED
    static int8_t log_counter = 0;                                      // used to slow down logging of PID values to dataflash
    // log output if PID logging is on and we are tuning the rate P, I or D gains
    if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
        log_counter++;
        if( log_counter >= 10 ) {               // (update rate / desired output rate) = (100hz / 10hz) = 10
            log_counter = 0;
            Log_Write_PID(CH6_RATE_KP, rate_error, p, i, d-rate_d_dampener, output, tuning_value);
        }
    }
#endif

    // output control
    return output;
}

static int16_t
get_rate_pitch(int32_t target_rate)
{
    static int32_t last_rate = 0;                                       // previous iterations rate
    int32_t p,i,d;                                                                      // used to capture pid values for logging
    int32_t current_rate;                                                       // this iteration's rate
    int32_t rate_error;                                                                 // simply target_rate - current_rate
    int32_t rate_d;                                                                     // roll's acceleration
    int32_t output;                                                                     // output from pid controller
    int32_t rate_d_dampener;                                                    // value to dampen output based on acceleration

    // get current rate
    current_rate    = (omega.y * DEGX100);

    // calculate and filter the acceleration
    rate_d                  = pitch_rate_d_filter.apply(current_rate - last_rate);

    // store rate for next iteration
    last_rate               = current_rate;

    // call pid controller
    rate_error      = target_rate - current_rate;
    p                       = g.pid_rate_pitch.get_p(rate_error);
    // freeze I term if we've breached roll-pitch limits
    if( motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) ) {
        i                       = g.pid_rate_pitch.get_integrator();
    }else{
        i                       = g.pid_rate_pitch.get_i(rate_error, G_Dt);
    }
    d                       = g.pid_rate_pitch.get_d(rate_error, G_Dt);
    output          = p + i + d;

    // Dampening output with D term
    rate_d_dampener = rate_d * pitch_scale_d;
    rate_d_dampener = constrain(rate_d_dampener, -400, 400);
    output -= rate_d_dampener;

    // constrain output
    output = constrain(output, -5000, 5000);

#if LOGGING_ENABLED == ENABLED
    static int8_t log_counter = 0;                                      // used to slow down logging of PID values to dataflash
    // log output if PID logging is on and we are tuning the rate P, I or D gains
    if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
        log_counter++;
        if( log_counter >= 10 ) {               // (update rate / desired output rate) = (100hz / 10hz) = 10
            log_counter = 0;
            Log_Write_PID(CH6_RATE_KP+100, rate_error, p, i, d-rate_d_dampener, output, tuning_value);
        }
    }
#endif

    // output control
    return output;
}

static int16_t
get_rate_yaw(int32_t target_rate)
{
    int32_t p,i,d;                                                                      // used to capture pid values for logging
    int32_t rate_error;
    int32_t output;

    // rate control
    rate_error              = target_rate - (omega.z * DEGX100);

    // separately calculate p, i, d values for logging
    p = g.pid_rate_yaw.get_p(rate_error);
    // freeze I term if we've breached yaw limits
    if( motors.reached_limit(AP_MOTOR_YAW_LIMIT) ) {
        i = g.pid_rate_yaw.get_integrator();
    }else{
        i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
    }
    d = g.pid_rate_yaw.get_d(rate_error, G_Dt);

    output  = p+i+d;
    output = constrain(output, -4500, 4500);

#if LOGGING_ENABLED == ENABLED
    static int8_t log_counter = 0;                                      // used to slow down logging of PID values to dataflash
    // log output if PID loggins is on and we are tuning the yaw
    if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
        log_counter++;
        if( log_counter >= 10 ) {               // (update rate / desired output rate) = (100hz / 10hz) = 10
            log_counter = 0;
            Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
        }
    }
#endif

#if FRAME_CONFIG == HELI_FRAME || FRAME_CONFIG == TRI_FRAME
    // constrain output
    return output;
#else
    // output control:
    int16_t yaw_limit = 2200 + abs(g.rc_4.control_in);

    // smoother Yaw control:
    return constrain(output, -yaw_limit, yaw_limit);
#endif

}

static int16_t
get_throttle_rate(int16_t z_target_speed)
{
    int32_t p,i,d;      // used to capture pid values for logging
    int16_t z_rate_error, output;

    // calculate rate error
#if INERTIAL_NAV == ENABLED
    z_rate_error    = z_target_speed - accels_velocity.z;                       // calc the speed error
#else
    z_rate_error    = z_target_speed - climb_rate;              // calc the speed error
#endif

    int32_t tmp     = (z_target_speed * z_target_speed * (int32_t)g.throttle_cruise) / 200000;

    if(z_target_speed < 0) tmp = -tmp;

    output                  = constrain(tmp, -3200, 3200);

    // separately calculate p, i, d values for logging
    p = g.pid_throttle.get_p(z_rate_error);
    // freeze I term if we've breached throttle limits
    if( motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT) ) {
        i = g.pid_throttle.get_integrator();
    }else{
        i = g.pid_throttle.get_i(z_rate_error, .02);
    }
    d = g.pid_throttle.get_d(z_rate_error, .02);

    //
    // limit the rate
    output +=  constrain(p+i+d, -80, 120);

#if LOGGING_ENABLED == ENABLED
    static int8_t log_counter = 0;                                      // used to slow down logging of PID values to dataflash
    // log output if PID loggins is on and we are tuning the yaw
    if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_THROTTLE_KP ) {
        log_counter++;
        if( log_counter >= 10 ) {               // (update rate / desired output rate) = (50hz / 10hz) = 5hz
            log_counter = 0;
            Log_Write_PID(CH6_THROTTLE_KP, z_rate_error, p, i, d, output, tuning_value);
        }
    }
#endif

    return output;
}

// Keeps old data out of our calculation / logs
static void reset_nav_params(void)
{
    nav_throttle                    = 0;

    // always start Circle mode at same angle
    circle_angle                    = 0;

    // We must be heading to a new WP, so XTrack must be 0
    crosstrack_error                = 0;

    // Will be set by new command
    target_bearing                  = 0;

    // Will be set by new command
    wp_distance                     = 0;

    // Will be set by new command, used by loiter
    long_error                              = 0;
    lat_error                               = 0;

    // make sure we stick to Nav yaw on takeoff
    auto_yaw = nav_yaw;
}

/*
 *  reset all I integrators
 */
static void reset_I_all(void)
{
    reset_rate_I();
    reset_stability_I();
    reset_wind_I();
    reset_throttle_I();
    reset_optflow_I();

    // This is the only place we reset Yaw
    g.pi_stabilize_yaw.reset_I();
}

static void reset_rate_I()
{
    g.pid_rate_roll.reset_I();
    g.pid_rate_pitch.reset_I();
    g.pid_rate_yaw.reset_I();
}

static void reset_optflow_I(void)
{
    g.pid_optflow_roll.reset_I();
    g.pid_optflow_pitch.reset_I();
    of_roll = 0;
    of_pitch = 0;
}

static void reset_wind_I(void)
{
    // Wind Compensation
    // this i is not currently being used, but we reset it anyway
    // because someone may modify it and not realize it, causing a bug
    g.pi_loiter_lat.reset_I();
    g.pi_loiter_lon.reset_I();

    g.pid_loiter_rate_lat.reset_I();
    g.pid_loiter_rate_lon.reset_I();

    g.pid_nav_lat.reset_I();
    g.pid_nav_lon.reset_I();
}

static void reset_throttle_I(void)
{
    // For Altitude Hold
    g.pi_alt_hold.reset_I();
    g.pid_throttle.reset_I();
}

static void reset_stability_I(void)
{
    // Used to balance a quad
    // This only needs to be reset during Auto-leveling in flight
    g.pi_stabilize_roll.reset_I();
    g.pi_stabilize_pitch.reset_I();
}


/*************************************************************
 *  throttle control
 ****************************************************************/

static int16_t get_angle_boost(int16_t value)
{
    float temp = cos_pitch_x * cos_roll_x;
    temp = constrain(temp, .75, 1.0);
    return ((float)(value + 80) / temp) - (value + 80);
}

#if FRAME_CONFIG == HELI_FRAME
// heli_angle_boost - adds a boost depending on roll/pitch values
// equivalent of quad's angle_boost function
// throttle value should be 0 ~ 1000
static int16_t heli_get_angle_boost(int16_t throttle)
{
    float angle_boost_factor = cos_pitch_x * cos_roll_x;
    angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
    int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0);
    return throttle + throttle_above_mid*angle_boost_factor;

}
#endif // HELI_FRAME

#define NUM_G_SAMPLES 40

#if ACCEL_ALT_HOLD == 2
// z -14.4306 = going up
// z -6.4306 = going down
static int16_t get_z_damping()
{
    int16_t output;

    Z_integrator    += get_world_Z_accel() - Z_offset;
    output                  = Z_integrator * 3;
    Z_integrator    = Z_integrator * .8;
    output = constrain(output, -100, 100);
    return output;
}

float get_world_Z_accel()
{
    accels_rot = ahrs.get_dcm_matrix() * imu.get_accel();
    //Serial.printf("z %1.4f\n", accels_rot.z);
    return accels_rot.z;
}

static void init_z_damper()
{
    Z_offset = 0;
    for (int16_t i = 0; i < NUM_G_SAMPLES; i++) {
        delay(5);
        read_AHRS();
        Z_offset += get_world_Z_accel();
    }
    Z_offset /= (float)NUM_G_SAMPLES;
}




// Accelerometer Z dampening by Aurelio R. Ramos
// ---------------------------------------------
#elif ACCEL_ALT_HOLD == 1

// contains G and any other DC offset
static float estimatedAccelOffset = 0;

// state
static float synVelo = 0;
static float synPos = 0;
static float synPosFiltered = 0;
static float posError = 0;
static float prevSensedPos = 0;

// tuning for dead reckoning
static const float dt_50hz = 0.02;
static float synPosP = 10 * dt_50hz;
static float synPosI = 15 * dt_50hz;
static float synVeloP = 1.5 * dt_50hz;
static float maxVeloCorrection = 5 * dt_50hz;
static float maxSensedVelo = 1;
static float synPosFilter = 0.5;


// Z damping term.
static float fullDampP = 0.100;

float get_world_Z_accel()
{
    accels_rot = ahrs.get_dcm_matrix() * imu.get_accel();
    return accels_rot.z;
}

static void init_z_damper()
{
    estimatedAccelOffset = 0;
    for (int16_t i = 0; i < NUM_G_SAMPLES; i++) {
        delay(5);
        read_AHRS();
        estimatedAccelOffset += get_world_Z_accel();
    }
    estimatedAccelOffset /= (float)NUM_G_SAMPLES;
}

float dead_reckon_Z(float sensedPos, float sensedAccel)
{
    // the following algorithm synthesizes position and velocity from
    // a noisy altitude and accelerometer data.

    // synthesize uncorrected velocity by integrating acceleration
    synVelo += (sensedAccel - estimatedAccelOffset) * dt_50hz;

    // synthesize uncorrected position by integrating uncorrected velocity
    synPos += synVelo * dt_50hz;

    // filter synPos, the better this filter matches the filtering and dead time
    // of the sensed position, the less the position estimate will lag.
    synPosFiltered = synPosFiltered * (1 - synPosFilter) + synPos * synPosFilter;

    // calculate error against sensor position
    posError = sensedPos - synPosFiltered;

    // correct altitude
    synPos += synPosP * posError;

    // correct integrated velocity by posError
    synVelo = synVelo + constrain(posError, -maxVeloCorrection, maxVeloCorrection) * synPosI;

    // correct integrated velocity by the sensed position delta in a small proportion
    // (i.e., the low frequency of the delta)
    float sensedVelo = (sensedPos - prevSensedPos) / dt_50hz;
    synVelo += constrain(sensedVelo - synVelo, -maxSensedVelo, maxSensedVelo) * synVeloP;

    prevSensedPos = sensedPos;
    return synVelo;
}

static int16_t get_z_damping()
{
    float sensedAccel = get_world_Z_accel();
    float sensedPos = current_loc.alt / 100.0;

    float synVelo = dead_reckon_Z(sensedPos, sensedAccel);
    return constrain(fullDampP * synVelo * (-1), -300, 300);
}

#else

static int16_t get_z_damping()
{
    return 0;
}

static void init_z_damper()
{
}
#endif

// calculate modified roll/pitch depending upon optical flow calculated position
static int32_t
get_of_roll(int32_t input_roll)
{
#ifdef OPTFLOW_ENABLED
    static float tot_x_cm = 0;      // total distance from target
    static uint32_t last_of_roll_update = 0;
    int32_t new_roll = 0;
    int32_t p,i,d;

    // check if new optflow data available
    if( optflow.last_update != last_of_roll_update) {
        last_of_roll_update = optflow.last_update;

        // add new distance moved
        tot_x_cm += optflow.x_cm;

        // only stop roll if caller isn't modifying roll
        if( input_roll == 0 && current_loc.alt < 1500) {
            p = g.pid_optflow_roll.get_p(-tot_x_cm);
            i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0);              // we could use the last update time to calculate the time change
            d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0);
            new_roll = p+i+d;
        }else{
            g.pid_optflow_roll.reset_I();
            tot_x_cm = 0;
            p = 0;              // for logging
            i = 0;
            d = 0;
        }
        // limit amount of change and maximum angle
        of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));

 #if LOGGING_ENABLED == ENABLED
        static int8_t log_counter = 0;                                  // used to slow down logging of PID values to dataflash
        // log output if PID logging is on and we are tuning the rate P, I or D gains
        if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
            log_counter++;
            if( log_counter >= 5 ) {                    // (update rate / desired output rate) = (100hz / 10hz) = 10
                log_counter = 0;
                Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value);
            }
        }
 #endif // LOGGING_ENABLED == ENABLED
    }

    // limit max angle
    of_roll = constrain(of_roll, -1000, 1000);

    return input_roll+of_roll;
#else
    return input_roll;
#endif
}

static int32_t
get_of_pitch(int32_t input_pitch)
{
#ifdef OPTFLOW_ENABLED
    static float tot_y_cm = 0;  // total distance from target
    static uint32_t last_of_pitch_update = 0;
    int32_t new_pitch = 0;
    int32_t p,i,d;

    // check if new optflow data available
    if( optflow.last_update != last_of_pitch_update ) {
        last_of_pitch_update = optflow.last_update;

        // add new distance moved
        tot_y_cm += optflow.y_cm;

        // only stop roll if caller isn't modifying pitch
        if( input_pitch == 0 && current_loc.alt < 1500 ) {
            p = g.pid_optflow_pitch.get_p(tot_y_cm);
            i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0);              // we could use the last update time to calculate the time change
            d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0);
            new_pitch = p + i + d;
        }else{
            tot_y_cm = 0;
            g.pid_optflow_pitch.reset_I();
            p = 0;              // for logging
            i = 0;
            d = 0;
        }

        // limit amount of change
        of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));

 #if LOGGING_ENABLED == ENABLED
        static int8_t log_counter = 0;                                  // used to slow down logging of PID values to dataflash
        // log output if PID logging is on and we are tuning the rate P, I or D gains
        if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
            log_counter++;
            if( log_counter >= 5 ) {                    // (update rate / desired output rate) = (100hz / 10hz) = 10
                log_counter = 0;
                Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value);
            }
        }
 #endif // LOGGING_ENABLED == ENABLED
    }

    // limit max angle
    of_pitch = constrain(of_pitch, -1000, 1000);

    return input_pitch+of_pitch;
#else
    return input_pitch;
#endif
}