Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Use slightly flatter directory structure since some developers did not

Browse source 
like too many folders.
Extracted code from some files into separate files to fit with the new
layout.
This commit is contained in:
Dominic Clifton 2014-04-08 22:07:37 +01:00
parent 39adc34278
commit 3bd4cd2ed2
84 changed files with 732 additions and 645 deletions
Download patch file Download diff file Expand all files Collapse all files

99
src/sensors_acceleration.c Normal file
View file

@ -0,0 +1,99 @@
#include "board.h"
#include "mw.h"
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
extern uint16_t InflightcalibratingA;
extern int16_t AccInflightCalibrationArmed;
extern uint16_t AccInflightCalibrationMeasurementDone;
extern uint16_t AccInflightCalibrationSavetoEEProm;
extern uint16_t AccInflightCalibrationActive;
void ACC_Common(void)
{
static int32_t a[3];
int axis;
if (calibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (calibratingA == CALIBRATING_ACC_CYCLES)
a[axis] = 0;
// Sum up CALIBRATING_ACC_CYCLES readings
a[axis] += accADC[axis];
// Clear global variables for next reading
accADC[axis] = 0;
mcfg.accZero[axis] = 0;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (calibratingA == 1) {
mcfg.accZero[ROLL] = (a[ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[PITCH] = (a[PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[YAW] = (a[YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0;
writeEEPROM(1, true); // write accZero in EEPROM
}
calibratingA--;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
static int32_t b[3];
static int16_t accZero_saved[3] = { 0, 0, 0 };
static int16_t angleTrim_saved[2] = { 0, 0 };
// Saving old zeropoints before measurement
if (InflightcalibratingA == 50) {
accZero_saved[ROLL] = mcfg.accZero[ROLL];
accZero_saved[PITCH] = mcfg.accZero[PITCH];
accZero_saved[YAW] = mcfg.accZero[YAW];
angleTrim_saved[ROLL] = cfg.angleTrim[ROLL];
angleTrim_saved[PITCH] = cfg.angleTrim[PITCH];
}
if (InflightcalibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (InflightcalibratingA == 50)
b[axis] = 0;
// Sum up 50 readings
b[axis] += accADC[axis];
// Clear global variables for next reading
accADC[axis] = 0;
mcfg.accZero[axis] = 0;
}
// all values are measured
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
toggleBeep = 2; // buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred
mcfg.accZero[ROLL] = accZero_saved[ROLL];
mcfg.accZero[PITCH] = accZero_saved[PITCH];
mcfg.accZero[YAW] = accZero_saved[YAW];
cfg.angleTrim[ROLL] = angleTrim_saved[ROLL];
cfg.angleTrim[PITCH] = angleTrim_saved[PITCH];
}
InflightcalibratingA--;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm == 1) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = 0;
mcfg.accZero[ROLL] = b[ROLL] / 50;
mcfg.accZero[PITCH] = b[PITCH] / 50;
mcfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G
cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0;
writeEEPROM(1, true); // write accZero in EEPROM
}
}
accADC[ROLL] -= mcfg.accZero[ROLL];
accADC[PITCH] -= mcfg.accZero[PITCH];
accADC[YAW] -= mcfg.accZero[YAW];
}
void ACC_getADC(void)
{
acc.read(accADC);
ACC_Common();
}