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Applied patch from trunet for running at 64MHz off HSI for broken Chinese kcopter clones

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status in cli now prints cpu MHz, 72 when running off crystal, 64 when running off intrc.
corrected WHO_AM_I check for mpu6050 when it's used on alternate address (AD0 high).
corrected PWM driver to consider CPU clock for timer prescalers - now things properly work below 72MHz
added a neat hack for pitch angle calculation so that it's not affected when roll reaches 90deg
added proper math for vector rotation instead of small-angle approximation

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@225 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-10-06 14:40:24 +00:00
parent 4a4c0d585d
commit 005308b430
10 changed files with 3110 additions and 3843 deletions
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2
src/drv_uart.c
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@ -150,7 +150,7 @@ void uartPrint(char *str)
/* -------------------------- UART2 (Spektrum, GPS) ----------------------------- */
uartReceiveCallbackPtr uart2Callback = NULL;
#define UART2_BUFFER_SIZE 64
#define UART2_BUFFER_SIZE 128
volatile uint8_t tx2Buffer[UART2_BUFFER_SIZE];
uint32_t tx2BufferTail = 0;