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Decoupling imu from config - acc deadband.

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This commit is contained in:
Dominic Clifton 2014-06-06 21:37:41 +01:00
parent 51eee3d62c
commit 3643c08475
6 changed files with 18 additions and 12 deletions
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10
src/main/flight/imu.c
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@ -107,12 +107,14 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
imuRuntimeConfig_t *imuRuntimeConfig;
pidProfile_t *pidProfile;
barometerConfig_t *barometerConfig;
accDeadband_t *accDeadband;
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig)
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband)
{
imuRuntimeConfig = initialImuRuntimeConfig;
pidProfile = initialPidProfile;
barometerConfig = intialBarometerConfig;
accDeadband = initialAccDeadband;
}
void computeIMU(rollAndPitchTrims_t *accelerometerTrims)
@ -255,9 +257,9 @@ void acc_calc(uint32_t deltaT)
accz_smooth = accz_smooth + (deltaT / (fc_acc + deltaT)) * (accel_ned.V.Z - accz_smooth); // low pass filter
// apply Deadband to reduce integration drift and vibration influence
accSum[X] += applyDeadband(lrintf(accel_ned.V.X), currentProfile.accxy_deadband);
accSum[Y] += applyDeadband(lrintf(accel_ned.V.Y), currentProfile.accxy_deadband);
accSum[Z] += applyDeadband(lrintf(accz_smooth), currentProfile.accz_deadband);
accSum[X] += applyDeadband(lrintf(accel_ned.V.X), accDeadband->xy);
accSum[Y] += applyDeadband(lrintf(accel_ned.V.Y), accDeadband->xy);
accSum[Z] += applyDeadband(lrintf(accz_smooth), accDeadband->z);
// sum up Values for later integration to get velocity and distance
accTimeSum += deltaT;