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Code Issues Wiki Activity

added acc_trim stuff into cli

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spacing/indentation fixes
flyingwing is somewhat supported, reflect that in comment
added anti-moron gyro calibration routine... if model is getting moved while its arming... don't calculate gyro avearage because its gonna be wrong... example of fail see here: http://www.rcgroups.com/forums/showthread.php?t=1749966

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@229 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-10-13 12:08:56 +00:00
parent 9fc43d5357
commit 0976133f1f
5 changed files with 2594 additions and 2569 deletions
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25
src/mw.c
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@ -1,7 +1,7 @@
#include "board.h"
#include "mw.h"
// July 2012 V2.1
// October 2012 V2.1-dev
flags_t f;
int16_t debug[4];
@ -35,20 +35,19 @@ int32_t GPS_coord[2];
int32_t GPS_home[2];
int32_t GPS_hold[2];
uint8_t GPS_numSat;
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s
uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update
int16_t GPS_angle[2] = { 0, 0 }; // it's the angles that must be applied for GPS correction
uint16_t GPS_ground_course = 0; // degrees*10
uint16_t GPS_ground_course = 0; // degrees * 10
uint8_t GPS_Present = 0; // Checksum from Gps serial
uint8_t GPS_Enable = 0;
int16_t nav[2];
int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
int8_t nav_mode = NAV_MODE_NONE; // Navigation mode
//Automatic ACC Offset Calibration
// **********************
// Automatic ACC Offset Calibration
uint16_t InflightcalibratingA = 0;
int16_t AccInflightCalibrationArmed;
uint16_t AccInflightCalibrationMeasurementDone = 0;
@ -56,8 +55,8 @@ uint16_t AccInflightCalibrationSavetoEEProm = 0;
uint16_t AccInflightCalibrationActive = 0;
// Battery monitoring stuff
uint8_t batteryCellCount = 3; // cell count
uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
uint8_t batteryCellCount = 3; // cell count
uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
{
@ -65,7 +64,7 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
for (r = 0; r < repeat; r++) {
for (i = 0; i < num; i++) {
LED0_TOGGLE; // switch LEDPIN state
LED0_TOGGLE; // switch LEDPIN state
BEEP_ON;
delay(wait);
BEEP_OFF;
@ -390,9 +389,9 @@ void loop(void)
}
}
for(i = 0; i < 4; i++)
for (i = 0; i < 4; i++)
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2);
for(i = 0; i < CHECKBOXITEMS; i++)
for (i = 0; i < CHECKBOXITEMS; i++)
rcOptions[i] = (auxState & cfg.activate[i]) > 0;
// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
@ -492,7 +491,7 @@ void loop(void)
} else {
f.PASSTHRU_MODE = 0;
}
if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING || cfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
}