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Remove gps_common.c's dependencies on the mw.h/board.h.

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Moved some GPS code from mw.c into gps_common.c.
Moved pid values into a pidProfile_t structure; this was done so that
gps_common.c does not have a dependency on config_profile.h.
pidProfile_t lives in flight_common.h now.
Moved gps profile settings from profile_t into gpsProfile_t for the same
reason.
Removed gps_common.c's dependency on masterConfig_t by passing needed
variables into gpsInit().
This commit is contained in:
Dominic Clifton 2014-04-22 00:37:35 +01:00
parent f8d0dd98f7
commit 2c80094b0e
14 changed files with 332 additions and 251 deletions
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10
src/flight_imu.c
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@ -18,6 +18,8 @@
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
#include "gps_common.h"
#include "flight_mixer.h"
#include "boardalignment.h"
@ -443,20 +445,20 @@ int getEstimatedAltitude(void)
// Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500);
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position
setVel = constrain((currentProfile.P8[PIDALT] * error / 128), -300, +300); // limit velocity to +/- 3 m/s
setVel = constrain((currentProfile.pidProfile.P8[PIDALT] * error / 128), -300, +300); // limit velocity to +/- 3 m/s
// Velocity PID-Controller
// P
error = setVel - vel_tmp;
BaroPID = constrain((currentProfile.P8[PIDVEL] * error / 32), -300, +300);
BaroPID = constrain((currentProfile.pidProfile.P8[PIDVEL] * error / 32), -300, +300);
// I
errorAltitudeI += (currentProfile.I8[PIDVEL] * error) / 8;
errorAltitudeI += (currentProfile.pidProfile.I8[PIDVEL] * error) / 8;
errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200));
BaroPID += errorAltitudeI / 1024; // I in range +/-200
// D
BaroPID -= constrain(currentProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
BaroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
accZ_old = accZ_tmp;
return 1;