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Decoupling imu from config - acc_unarmedcal.

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This commit is contained in:
Dominic Clifton 2014-06-07 02:27:07 +01:00
parent 5f4a464f50
commit 2bbbf9937d
3 changed files with 4 additions and 1 deletions
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2
src/main/config/config.c
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@ -388,6 +388,8 @@ void activateConfig(void)
imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor; imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor; imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor; imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
imuRuntimeConfig.acc_unarmedcal = currentProfile.acc_unarmedcal;;
configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband); configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);

2
src/main/flight/imu.c
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@ -245,7 +245,7 @@ void acc_calc(uint32_t deltaT)
rotateV(&accel_ned.V, &rpy); rotateV(&accel_ned.V, &rpy);
if (currentProfile.acc_unarmedcal == 1) { if (imuRuntimeConfig->acc_unarmedcal == 1) {
if (!f.ARMED) { if (!f.ARMED) {
accZoffset -= accZoffset / 64; accZoffset -= accZoffset / 64;
accZoffset += accel_ned.V.Z; accZoffset += accel_ned.V.Z;

1
src/main/flight/imu.h
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@ -23,6 +23,7 @@ extern int16_t throttleAngleCorrection;
typedef struct imuRuntimeConfig_s { typedef struct imuRuntimeConfig_s {
uint8_t acc_lpf_factor; uint8_t acc_lpf_factor;
uint8_t acc_unarmedcal;
float gyro_cmpf_factor; float gyro_cmpf_factor;
float gyro_cmpfm_factor; float gyro_cmpfm_factor;
} imuRuntimeConfig_t; } imuRuntimeConfig_t;