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merge upstream into sirinfpv-dev branch

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This commit is contained in:
Evgeny Sychov 2016-06-13 09:41:19 -07:00
commit 21b5dce0e9
416 changed files with 156557 additions and 11350 deletions
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50
src/main/io/serial_msp.c
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@ -106,7 +106,6 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // FIXME dependency on mw.c
extern void resetPidProfile(pidProfile_t *pidProfile);
void setGyroSamplingSpeed(uint16_t looptime) {
uint16_t gyroSampleRate = 1000;
uint8_t maxDivider = 1;
@ -119,46 +118,44 @@ void setGyroSamplingSpeed(uint16_t looptime) {
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = MAG_DEFAULT;
if (looptime < 250) {
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.acc_hardware = ACC_NONE;
masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = MAG_NONE;
masterConfig.pid_process_denom = 2;
} else if (looptime < 375) {
#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) || defined(SPRACINGF3EVO) || defined(DOGE) || defined(FURYF3)
masterConfig.acc_hardware = 0;
#else
masterConfig.acc_hardware = 1;
#endif
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = MAG_NONE;
masterConfig.pid_process_denom = 2;
}
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else {
masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = MAG_DEFAULT;
}
#else
if (looptime < 1000) {
masterConfig.gyro_lpf = 0;
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.acc_hardware = ACC_NONE;
masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = MAG_NONE;
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
masterConfig.pid_process_denom = 2;
}
if (looptime < 250) {
masterConfig.pid_process_denom = 4;
} else if (looptime < 375) {
if (currentProfile->pidProfile.pidController == 2) {
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
masterConfig.pid_process_denom = 3;
} else {
masterConfig.pid_process_denom = 2;
@ -167,11 +164,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else {
masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = MAG_DEFAULT;
masterConfig.pid_process_denom = 1;
}
#endif
@ -402,7 +398,7 @@ static void serializeSDCardSummaryReply(void)
#ifdef USE_SDCARD
uint8_t flags = 1 /* SD card supported */ ;
uint8_t state;
uint8_t state = 0;
serialize8(flags);