Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

Decoupling imu from config - acc_unarmedcal.

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

2
src/main/config/config.c
View file

@ -388,6 +388,8 @@ void activateConfig(void)
imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
imuRuntimeConfig.acc_unarmedcal = currentProfile.acc_unarmedcal;;
configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);

2
src/main/flight/imu.c
View file

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

1
src/main/flight/imu.h
View file

@ -23,6 +23,7 @@ extern int16_t throttleAngleCorrection;
typedef struct imuRuntimeConfig_s {
uint8_t acc_lpf_factor;
uint8_t acc_unarmedcal;
float gyro_cmpf_factor;
float gyro_cmpfm_factor;
} imuRuntimeConfig_t;