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Move calibrationCompleted flag to a 4th element in the accZero structure

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Allows the flag indicating that calibration was completed to be output in the values for `acc_calibration`.
This commit is contained in:
Bruce Luckcuck 2019-10-21 11:49:11 -04:00
parent 565f1f4db5
commit 365c6cb1f6
6 changed files with 10 additions and 8 deletions
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4
src/main/cli/settings.c
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@ -663,7 +663,9 @@ const clivalue_t valueTable[] = {
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_lpf_hz) },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) },
{ "acc_calibration", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = XYZ_AXIS_COUNT, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accZero.raw) },
// 4 elements are output for the ACC calibration - The 3 axis values and the 4th representing whether calibration has been performed
{ "acc_calibration", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = 4, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accZero.raw) },
#endif
// PG_COMPASS_CONFIG

2
src/main/fc/core.c
View file

@ -220,7 +220,7 @@ static bool accNeedsCalibration(void)
if (sensors(SENSOR_ACC)) {
// Check to see if the ACC has already been calibrated
if (accelerometerConfig()->calibrationCompleted ||
if (accelerometerConfig()->accZero.values.calibrationCompleted ||
accelerometerConfig()->accZero.values.roll != 0 ||
accelerometerConfig()->accZero.values.pitch != 0 ||
accelerometerConfig()->accZero.values.yaw != 0) {

6
src/main/sensors/acceleration.c
View file

@ -98,7 +98,7 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
static void setConfigCalibrationCompleted(void)
{
accelerometerConfigMutable()->calibrationCompleted = true;
accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
}
void accResetRollAndPitchTrims(void)
@ -111,6 +111,7 @@ static void resetFlightDynamicsTrims(flightDynamicsTrims_t *accZero)
accZero->values.roll = 0;
accZero->values.pitch = 0;
accZero->values.yaw = 0;
accZero->values.calibrationCompleted = 0;
}
void accResetFlightDynamicsTrims(void)
@ -124,13 +125,12 @@ void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
.acc_lpf_hz = 10,
.acc_hardware = ACC_DEFAULT,
.acc_high_fsr = false,
.calibrationCompleted = false,
);
resetRollAndPitchTrims(&instance->accelerometerTrims);
resetFlightDynamicsTrims(&instance->accZero);
}
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 1);
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 2);
extern uint16_t InflightcalibratingA;
extern bool AccInflightCalibrationMeasurementDone;

1
src/main/sensors/acceleration.h
View file

@ -72,7 +72,6 @@ typedef struct accelerometerConfig_s {
bool acc_high_fsr;
flightDynamicsTrims_t accZero;
rollAndPitchTrims_t accelerometerTrims;
bool calibrationCompleted; // has ACC calibration been performed (should not be exposed in settings)
} accelerometerConfig_t;
PG_DECLARE(accelerometerConfig_t, accelerometerConfig);

2
src/main/sensors/compass.c
View file

@ -58,7 +58,7 @@
magDev_t magDev;
mag_t mag; // mag access functions
PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 1);
PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 2);
void pgResetFn_compassConfig(compassConfig_t *compassConfig)
{

3
src/main/sensors/sensors.h
View file

@ -36,10 +36,11 @@ typedef struct int16_flightDynamicsTrims_s {
int16_t roll;
int16_t pitch;
int16_t yaw;
int16_t calibrationCompleted;
} flightDynamicsTrims_def_t;
typedef union flightDynamicsTrims_u {
int16_t raw[3];
int16_t raw[4];
flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t;