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Split acceleration code into init and runtime to save flash space

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Bruce Luckcuck 2020-10-15 15:18:36 -04:00
parent e315fb74da
commit 358fe5ce1c
4 changed files with 555 additions and 480 deletions
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src/main/sensors/acceleration_init.h Normal file
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "platform.h"
#include "sensors/acceleration.h"
typedef struct accelerationRuntime_s {
uint16_t accLpfCutHz;
biquadFilter_t accFilter[XYZ_AXIS_COUNT];
flightDynamicsTrims_t *accelerationTrims;
int accumulatedMeasurementCount;
float accumulatedMeasurements[XYZ_AXIS_COUNT];
uint16_t calibratingA; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
} accelerationRuntime_t;
extern accelerationRuntime_t accelerationRuntime;
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);
void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);