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Code Issues Wiki Activity

IMU naming cleanup.

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This commit is contained in:
Dominic Clifton 2015-01-31 22:23:38 +01:00
parent 8b0a982931
commit 01b2ce0b36
8 changed files with 23 additions and 23 deletions
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24
src/main/flight/imu.c
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@ -77,7 +77,7 @@ imuRuntimeConfig_t *imuRuntimeConfig;
pidProfile_t *pidProfile;
accDeadband_t *accDeadband;
void configureIMU(
void imuConfigure(
imuRuntimeConfig_t *initialImuRuntimeConfig,
pidProfile_t *initialPidProfile,
accDeadband_t *initialAccDeadband,
@ -92,7 +92,7 @@ void configureIMU(
throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
}
void initIMU()
void imuInit()
{
smallAngle = lrintf(acc_1G * cosf(degreesToRadians(imuRuntimeConfig->small_angle)));
accVelScale = 9.80665f / acc_1G / 10000.0f;
@ -129,7 +129,7 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff)
t_fp_vector EstG;
void accSum_reset(void)
void imuResetAccelerationSum(void)
{
accSum[0] = 0;
accSum[1] = 0;
@ -139,7 +139,7 @@ void accSum_reset(void)
}
// rotate acc into Earth frame and calculate acceleration in it
void acc_calc(uint32_t deltaT)
void imuCalculateAcceleration(uint32_t deltaT)
{
static int32_t accZoffset = 0;
static float accz_smooth = 0;
@ -212,7 +212,7 @@ void acc_calc(uint32_t deltaT)
*
* //TODO: Add explanation for how it uses the Z dimension.
*/
int16_t calculateHeading(t_fp_vector *vec)
int16_t imuCalculateHeading(t_fp_vector *vec)
{
int16_t head;
@ -234,7 +234,7 @@ int16_t calculateHeading(t_fp_vector *vec)
return head;
}
static void getEstimatedAttitude(void)
static void imuCalculateEstimatedAttitude(void)
{
int32_t axis;
int32_t accMag = 0;
@ -295,24 +295,24 @@ static void getEstimatedAttitude(void)
for (axis = 0; axis < 3; axis++) {
EstM.A[axis] = (EstM.A[axis] * imuRuntimeConfig->gyro_cmpfm_factor + magADC[axis]) * invGyroComplimentaryFilter_M_Factor;
}
heading = calculateHeading(&EstM);
heading = imuCalculateHeading(&EstM);
} else {
rotateV(&EstN.V, &deltaGyroAngle);
normalizeV(&EstN.V, &EstN.V);
heading = calculateHeading(&EstN);
heading = imuCalculateHeading(&EstN);
}
acc_calc(deltaT); // rotate acc vector into earth frame
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
}
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
{
static int16_t gyroYawSmooth = 0;
gyroGetADC();
gyroUpdate();
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims);
getEstimatedAttitude();
imuCalculateEstimatedAttitude();
} else {
accADC[X] = 0;
accADC[Y] = 0;