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Code Issues Wiki Activity

Gyro Calibration scaled to looptime setting

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borisbstyle 2016-03-08 22:46:54 +01:00
parent 0aac025494
commit 1187c575ed
3 changed files with 6 additions and 5 deletions
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3
src/main/io/rc_controls.c
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@ -34,6 +34,7 @@
#include "drivers/system.h" #include "drivers/system.h"
#include "drivers/sensor.h" #include "drivers/sensor.h"
#include "drivers/accgyro.h" #include "drivers/accgyro.h"
#include "drivers/gyro_sync.h"
#include "sensors/barometer.h" #include "sensors/barometer.h"
#include "sensors/battery.h" #include "sensors/battery.h"
@ -215,7 +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); gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
#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); gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
#ifdef BARO #ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif #endif

6
src/main/sensors/gyro.c
View file

@ -79,7 +79,7 @@ bool isOnFinalGyroCalibrationCycle(void)
bool isOnFirstGyroCalibrationCycle(void) bool isOnFirstGyroCalibrationCycle(void)
{ {
return calibratingG == CALIBRATING_GYRO_CYCLES; return calibratingG == (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
} }
static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold) static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
@ -108,10 +108,10 @@ 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); gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
return; return;
} }
gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES; gyroZero[axis] = (g[axis] + ((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES / 2)) / (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
} }
} }