Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 14:55:21 +03:00
Code Issues Wiki Activity

Remove unused IMU parameters

Browse source
This commit is contained in:
Bruce Luckcuck 2018-09-24 15:50:05 -04:00
parent 649eaea291
commit 0074f05573
3 changed files with 1 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/main/flight/imu.c
View file

@ -111,14 +111,12 @@ quaternion offset = QUATERNION_INITIALIZE;
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800 // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
attitudeEulerAngles_t attitude = EULER_INITIALIZE; attitudeEulerAngles_t attitude = EULER_INITIALIZE;
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0); PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 1);
PG_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
.dcm_kp = 2500, // 1.0 * 10000 .dcm_kp = 2500, // 1.0 * 10000
.dcm_ki = 0, // 0.003 * 10000 .dcm_ki = 0, // 0.003 * 10000
.small_angle = 25, .small_angle = 25,
.accDeadband = {.xy = 40, .z= 40},
.acc_unarmedcal = 1
); );
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void){ STATIC_UNIT_TESTED void imuComputeRotationMatrix(void){
@ -159,7 +157,6 @@ void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correctio
{ {
imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f; imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f; imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = imuConfig()->acc_unarmedcal;
imuRuntimeConfig.small_angle = imuConfig()->small_angle; imuRuntimeConfig.small_angle = imuConfig()->small_angle;
fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value

9
src/main/flight/imu.h
View file

@ -56,17 +56,10 @@ typedef union {
extern attitudeEulerAngles_t attitude; extern attitudeEulerAngles_t attitude;
typedef struct accDeadband_s {
uint8_t xy; // set the acc deadband for xy-Axis
uint8_t z; // set the acc deadband for z-Axis, this ignores small accelerations
} accDeadband_t;
typedef struct imuConfig_s { typedef struct imuConfig_s {
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000) uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
uint16_t dcm_ki; // DCM filter integral gain ( x 10000) uint16_t dcm_ki; // DCM filter integral gain ( x 10000)
uint8_t small_angle; uint8_t small_angle;
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
accDeadband_t accDeadband;
} imuConfig_t; } imuConfig_t;
PG_DECLARE(imuConfig_t, imuConfig); PG_DECLARE(imuConfig_t, imuConfig);
@ -74,9 +67,7 @@ PG_DECLARE(imuConfig_t, imuConfig);
typedef struct imuRuntimeConfig_s { typedef struct imuRuntimeConfig_s {
float dcm_ki; float dcm_ki;
float dcm_kp; float dcm_kp;
uint8_t acc_unarmedcal;
uint8_t small_angle; uint8_t small_angle;
accDeadband_t accDeadband;
} imuRuntimeConfig_t; } imuRuntimeConfig_t;
void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correction_value); void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correction_value);

3
src/main/interface/settings.c
View file

@ -763,9 +763,6 @@ const clivalue_t valueTable[] = {
{ "serial_update_rate_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 2000 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, serial_update_rate_hz) }, { "serial_update_rate_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 2000 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, serial_update_rate_hz) },
// PG_IMU_CONFIG // PG_IMU_CONFIG
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_IMU_CONFIG, offsetof(imuConfig_t, accDeadband.xy) },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_IMU_CONFIG, offsetof(imuConfig_t, accDeadband.z) },
{ "acc_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_IMU_CONFIG, offsetof(imuConfig_t, acc_unarmedcal) },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_kp) }, { "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_kp) },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_ki) }, { "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_ki) },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) }, { "small_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) },