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Code Issues Wiki Activity

Removed tricopter yaw gyro smoothing from imuUpdate

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This commit is contained in:
Steveis 2015-05-10 11:02:44 +01:00
parent fe40472050
commit 318592b063
3 changed files with 7 additions and 15 deletions
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18
src/main/flight/imu.c
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@ -298,11 +298,13 @@ static void imuCalculateEstimatedAttitude(void)
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
}
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
static int16_t gyroYawSmooth = 0;
gyroUpdate();
gyroData[FD_ROLL] = gyroADC[FD_ROLL];
gyroData[FD_PITCH] = gyroADC[FD_PITCH];
gyroData[FD_YAW] = gyroADC[FD_YAW];
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims); // TODO rename to accelerometerUpdate and rename many other 'Acceleration' references to be 'Accelerometer'
imuCalculateEstimatedAttitude();
@ -311,16 +313,6 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
accADC[Y] = 0;
accADC[Z] = 0;
}
gyroData[FD_ROLL] = gyroADC[FD_ROLL];
gyroData[FD_PITCH] = gyroADC[FD_PITCH];
if (mixerMode == MIXER_TRI) {
gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
gyroYawSmooth = gyroData[FD_YAW];
} else {
gyroData[FD_YAW] = gyroADC[FD_YAW];
}
}
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)

2
src/main/flight/imu.h
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@ -62,7 +62,7 @@ void imuConfigure(
);
void calculateEstimatedAltitude(uint32_t currentTime);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims);
float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);

2
src/main/mw.c
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@ -720,7 +720,7 @@ void loop(void)
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
imuUpdate(&currentProfile->accelerometerTrims, masterConfig.mixerMode);
imuUpdate(&currentProfile->accelerometerTrims);
// Measure loop rate just after reading the sensors
currentTime = micros();