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Code Issues Wiki Activity

Function for calculating calibration cycles

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borisbstyle 2016-03-09 22:31:16 +01:00
parent 21bc85335e
commit 03cc5fa438
4 changed files with 10 additions and 5 deletions
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2
src/main/io/rc_controls.c
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@ -216,7 +216,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) { if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration // GYRO calibration
gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES); gyroSetCalibrationCycles(calculateCalibratingCycles());
#ifdef GPS #ifdef GPS
if (feature(FEATURE_GPS)) { if (feature(FEATURE_GPS)) {

2
src/main/main.c
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@ -598,7 +598,7 @@ void init(void)
if (masterConfig.mixerMode == MIXER_GIMBAL) { if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES); accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
} }
gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES); gyroSetCalibrationCycles(calculateCalibratingCycles());
#ifdef BARO #ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif #endif

10
src/main/sensors/gyro.c
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@ -77,9 +77,13 @@ bool isOnFinalGyroCalibrationCycle(void)
return calibratingG == 1; return calibratingG == 1;
} }
uint16_t calculateCalibratingCycles(void) {
return (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
}
bool isOnFirstGyroCalibrationCycle(void) bool isOnFirstGyroCalibrationCycle(void)
{ {
return calibratingG == (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES; return calibratingG == calculateCalibratingCycles();
} }
static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold) static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
@ -108,10 +112,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
float dev = devStandardDeviation(&var[axis]); float dev = devStandardDeviation(&var[axis]);
// check deviation and startover in case the model was moved // check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) { if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES); gyroSetCalibrationCycles(calculateCalibratingCycles());
return; return;
} }
gyroZero[axis] = (g[axis] + ((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES / 2)) / (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES; gyroZero[axis] = (g[axis] + (calculateCalibratingCycles() / 2)) / calculateCalibratingCycles();
} }
} }

1
src/main/sensors/gyro.h
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@ -43,4 +43,5 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz);
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired); void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void gyroUpdate(void); void gyroUpdate(void);
bool isGyroCalibrationComplete(void); bool isGyroCalibrationComplete(void);
uint16_t calculateCalibratingCycles(void);