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Code Issues Wiki Activity

Configurable Baro Type

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We can disable/configure mag, acc, but why not baro?

ident
This commit is contained in:
borisbstyle 2015-08-16 23:03:46 +02:00 • committed by Dominic Clifton
parent 6a24295525
commit 26f89b74bd
7 changed files with 12 additions and 8 deletions
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1
src/main/config/config.c
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@ -397,6 +397,7 @@ static void resetConf(void)
masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32; masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
masterConfig.mag_hardware = MAG_DEFAULT; // default/autodetect masterConfig.mag_hardware = MAG_DEFAULT; // default/autodetect
masterConfig.baro_hardware = BARO_DEFAULT; // default/autodetect
resetBatteryConfig(&masterConfig.batteryConfig); resetBatteryConfig(&masterConfig.batteryConfig);

1
src/main/config/config_master.h
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@ -53,6 +53,7 @@ typedef struct master_t {
gyroConfig_t gyroConfig; gyroConfig_t gyroConfig;
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
uint8_t baro_hardware; // Barometer hardware to use
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees). uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
flightDynamicsTrims_t accZero; flightDynamicsTrims_t accZero;

1
src/main/io/serial_cli.c
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@ -465,6 +465,7 @@ const clivalue_t valueTable[] = {
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 }, { "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 }, { "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 }, { "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, 0, BARO_MAX },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX }, { "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 }, { "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },

2
src/main/main.c
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@ -371,7 +371,7 @@ void init(void)
} }
#endif #endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) { if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination)) {
// if gyro was not detected due to whatever reason, we give up now. // if gyro was not detected due to whatever reason, we give up now.
failureMode(3); failureMode(3);
} }

5
src/main/sensors/barometer.h
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@ -18,13 +18,14 @@
#pragma once #pragma once
typedef enum { typedef enum {
BARO_NONE = 0, BARO_DEFAULT = 0,
BARO_DEFAULT = 1, BARO_NONE = 1,
BARO_BMP085 = 2, BARO_BMP085 = 2,
BARO_MS5611 = 3 BARO_MS5611 = 3
} baroSensor_e; } baroSensor_e;
#define BARO_SAMPLE_COUNT_MAX 48 #define BARO_SAMPLE_COUNT_MAX 48
#define BARO_MAX BARO_MS5611
typedef struct barometerConfig_s { typedef struct barometerConfig_s {
uint8_t baro_sample_count; // size of baro filter array uint8_t baro_sample_count; // size of baro filter array

8
src/main/sensors/initialisation.c
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@ -408,12 +408,12 @@ retry:
sensorsSet(SENSOR_ACC); sensorsSet(SENSOR_ACC);
} }
static void detectBaro() static void detectBaro(baroSensor_e baroHardwareToUse)
{ {
#ifdef BARO #ifdef BARO
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = BARO_DEFAULT; baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085 #ifdef USE_BARO_BMP085
@ -587,7 +587,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
} }
} }
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig) bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig)
{ {
int16_t deg, min; int16_t deg, min;
@ -598,7 +598,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
return false; return false;
} }
detectAcc(accHardwareToUse); detectAcc(accHardwareToUse);
detectBaro(); detectBaro(baroHardwareToUse);
// Now time to init things, acc first // Now time to init things, acc first

2
src/main/sensors/initialisation.h
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@ -17,4 +17,4 @@
#pragma once #pragma once
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig); bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig);