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Merge remote-tracking branch 'prodrone/betaflight' into alphaflight
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commit
0ea5a99e2b
22 changed files with 808 additions and 184 deletions
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@ -20,6 +20,8 @@
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#include <stdint.h>
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#include <math.h>
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#include "debug.h"
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#include "platform.h"
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#include "common/maths.h"
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@ -80,6 +82,8 @@
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#define DEBUG_CYCLE_TIME
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// June 2013 V2.2-dev
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enum {
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@ -726,6 +730,13 @@ void filterRc(void){
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void loop(void)
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{
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static uint32_t loopTime;
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#ifdef DEBUG_CYCLE_TIME
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static uint32_t minCycleTime = 0xffffffff;
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static uint32_t maxCycleTime = 0;
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static uint32_t clearTime = 0;
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#endif
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#if defined(BARO) || defined(SONAR)
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static bool haveProcessedAnnexCodeOnce = false;
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#endif
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@ -772,8 +783,8 @@ void loop(void)
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if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
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loopTime = currentTime + targetLooptime;
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imuUpdate(¤tProfile->accelerometerTrims, masterConfig.acc_for_fast_looptime);
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imuUpdate(¤tProfile->accelerometerTrims);
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// Measure loop rate just after reading the sensors
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currentTime = micros();
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@ -781,6 +792,18 @@ void loop(void)
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previousTime = currentTime;
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dT = (float)cycleTime * 0.000001f;
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#ifdef DEBUG_CYCLE_TIME
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if (currentTime > clearTime) {
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clearTime = currentTime + (uint32_t)20000000;
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minCycleTime = 0xffffffff;
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maxCycleTime = 0;
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}
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if (cycleTime < minCycleTime) minCycleTime = cycleTime;
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if (cycleTime > maxCycleTime) maxCycleTime = cycleTime;
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debug[0] = cycleTime;
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debug[1] = minCycleTime;
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debug[2] = maxCycleTime;
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#endif
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filterApply7TapFIR(gyroADC);
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