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fixed cli version from pre-3 stuff

Browse source 
increased gyro complementary filter factor to 500 to reduce acc influence (should hopefully fix random walk stuff?)
fixed a bug in servotilt stuff (maybe?)

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@150 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-01 00:07:22 +00:00
parent f3a4e9f731
commit 26b2031e24
6 changed files with 4992 additions and 5015 deletions
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134
baseflight.uvopt
View file

@ -320,7 +320,7 @@
<OPTFL> <OPTFL>
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@ -576,7 +576,7 @@
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@ -655,38 +655,6 @@
<Name>-UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name> <Name>-UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name>
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4964
obj/baseflight.hex
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4896
obj/baseflight_fy90q.hex
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File diff suppressed because it is too large Load diff

2
src/cli.c
View file

@ -485,7 +485,7 @@ static void cliStatus(char *cmdline)
static void cliVersion(char *cmdline) static void cliVersion(char *cmdline)
{ {
uartPrint("Afro32 CLI version 2.0-pre3 " __DATE__ " / " __TIME__); uartPrint("Afro32 CLI version 2.0 " __DATE__ " / " __TIME__);
} }
void cliProcess(void) void cliProcess(void)

3
src/imu.c
View file

@ -118,7 +118,8 @@ void computeIMU(void)
/* Set the Gyro Weight for Gyro/Acc complementary filter */ /* Set the Gyro Weight for Gyro/Acc complementary filter */
/* Increasing this value would reduce and delay Acc influence on the output of the filter*/ /* Increasing this value would reduce and delay Acc influence on the output of the filter*/
/* Default WMC value: 300*/ /* Default WMC value: 300*/
#define GYR_CMPF_FACTOR 310.0f // #define GYR_CMPF_FACTOR 310.0f
#define GYR_CMPF_FACTOR 500.0f
/* Set the Gyro Weight for Gyro/Magnetometer complementary filter */ /* Set the Gyro Weight for Gyro/Magnetometer complementary filter */
/* Increasing this value would reduce and delay Magnetometer influence on the output of the filter*/ /* Increasing this value would reduce and delay Magnetometer influence on the output of the filter*/

8
src/mixer.c
View file

@ -235,12 +235,12 @@ void mixTable(void)
uint16_t aux[2] = { 0, 0 }; uint16_t aux[2] = { 0, 0 };
if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY)) if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY))
aux[0] = rcData[AUX3]; aux[0] = rcData[AUX3] - cfg.midrc;
if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34)) if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34))
aux[1] = rcData[AUX4]; aux[1] = rcData[AUX4] - cfg.midrc;
servo[0] = cfg.gimbal_pitch_mid + aux[0] - cfg.midrc; servo[0] = cfg.gimbal_pitch_mid + aux[0];
servo[1] = cfg.gimbal_roll_mid + aux[1] - cfg.midrc; servo[1] = cfg.gimbal_roll_mid + aux[1];
if (rcOptions[BOXCAMSTAB]) { if (rcOptions[BOXCAMSTAB]) {
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16; servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;