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i2c no-ack fix (never actually worked properly, fixed now)

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bumped config version, or else r198 crashed on update from recent version
airplane mode config passed to drv_pwm


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@199 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-21 05:41:58 +00:00
parent e6cb4a0b1c
commit 10570a6579
5 changed files with 2495 additions and 2490 deletions
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22
src/mw.c
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@ -532,11 +532,11 @@ void loop(void)
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
#ifdef MPU6050_DMP
#ifdef MPU6050_DMP
mpu6050DmpLoop();
#endif
#endif
#ifdef MAG
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {
int16_t dif = heading - magHold;
@ -549,9 +549,9 @@ void loop(void)
} else
magHold = heading;
}
#endif
#ifdef BARO
#endif
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (f.BARO_MODE) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > 20) {
@ -560,8 +560,8 @@ void loop(void)
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
}
#endif
#endif
if (sensors(SENSOR_GPS)) {
// Check that we really need to navigate ?
if ((!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || (!f.GPS_FIX_HOME)) {
@ -586,11 +586,11 @@ void loop(void)
if (f.ACC_MODE && axis < 2) { // LEVEL MODE
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] - GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
#ifdef LEVEL_PDF
#ifdef LEVEL_PDF
PTerm = -(int32_t) angle[axis] * cfg.P8[PIDLEVEL] / 100;
#else
#else
PTerm = (int32_t) errorAngle *cfg.P8[PIDLEVEL] / 100; //32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
#endif
#endif
PTerm = constrain(PTerm, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp // 16 bits is ok here