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Dterm scaling correction // Code cleanup
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parent
f5ad7f6003
commit
0539abc649
13 changed files with 34 additions and 84 deletions
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@ -73,7 +73,7 @@ static pidProfile_t *pidProfile;
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static accDeadband_t *accDeadband;
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static accProcessor_t accProc;
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static void qAccProcessingStateMachine(rollAndPitchTrims_t *accelerometerTrims, uint8_t acc_for_fast_looptime);
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static void qAccProcessingStateMachine(rollAndPitchTrims_t *accelerometerTrims);
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void imuConfigure(
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@ -182,12 +182,12 @@ int16_t imuCalculateHeading(t_fp_vector *vec)
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return head;
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}
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void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t acc_for_fast_looptime)
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void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
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{
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gyroUpdate();
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if (sensors(SENSOR_ACC)) {
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qAccProcessingStateMachine(accelerometerTrims, acc_for_fast_looptime);
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qAccProcessingStateMachine(accelerometerTrims);
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} else {
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accADC[X] = 0;
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accADC[Y] = 0;
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@ -578,7 +578,7 @@ void qimuInit()
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//////////////////////////////////////////////////////////////////////
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static void qAccProcessingStateMachine(rollAndPitchTrims_t *accelerometerTrims, uint8_t acc_for_fast_looptime)
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static void qAccProcessingStateMachine(rollAndPitchTrims_t *accelerometerTrims)
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{
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int axis;
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const float gyro_drift_factor = 0.00f;
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@ -595,7 +595,7 @@ static void qAccProcessingStateMachine(rollAndPitchTrims_t *accelerometerTrims,
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// get time step.. TODO: this should really be fixed to division of MPU sample rate
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static float dT;
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bool keepProcessing = !acc_for_fast_looptime; // (keepProcessing == true): causes all states to execute (for slow cycle times)
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bool keepProcessing = true; // (keepProcessing == true): causes all states to execute (for slow cycle times)
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do {
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switch (accProc.state) {
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