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Merge remote-tracking branch 'multiwii/master' into

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project-structure-alternative

Conflicts:
	src/sensors.c
This commit is contained in:
Dominic Clifton 2014-04-16 17:49:10 +01:00
commit 3c1ba729b9
5 changed files with 30 additions and 27 deletions
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8
src/flight_imu.c
View file

@ -269,10 +269,12 @@ static void getEstimatedAttitude(void)
accMag = accMag * 100 / ((int32_t)acc_1G * acc_1G); accMag = accMag * 100 / ((int32_t)acc_1G * acc_1G);
rotateV(&EstG.V, deltaGyroAngle); rotateV(&EstG.V, deltaGyroAngle);
if (sensors(SENSOR_MAG)) if (sensors(SENSOR_MAG)) {
rotateV(&EstM.V, deltaGyroAngle); rotateV(&EstM.V, deltaGyroAngle);
else } else {
rotateV(&EstN.V, deltaGyroAngle); rotateV(&EstN.V, deltaGyroAngle);
normalizeV(&EstN.V, &EstN.V);
}
// Apply complimentary filter (Gyro drift correction) // Apply complimentary filter (Gyro drift correction)
// If accel magnitude >1.15G or <0.85G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation. // If accel magnitude >1.15G or <0.85G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
@ -315,7 +317,7 @@ static void getEstimatedAttitude(void)
int angle = lrintf(acosf(cosZ) * throttleAngleScale); int angle = lrintf(acosf(cosZ) * throttleAngleScale);
if (angle > 900) if (angle > 900)
angle = 900; angle = 900;
throttleAngleCorrection = lrintf(cfg.throttle_correction_value * sinf(angle / 900.0f * M_PI / 2.0f)) ; throttleAngleCorrection = lrintf(cfg.throttle_correction_value * sinf(angle / (900.0f * M_PI / 2.0f))) ;
} }
} }

19
src/mw.c
View file

@ -60,11 +60,11 @@ uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength) uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
// Automatic ACC Offset Calibration // Automatic ACC Offset Calibration
bool AccInflightCalibrationArmed = false;
bool AccInflightCalibrationMeasurementDone = false;
bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0; uint16_t InflightcalibratingA = 0;
int16_t AccInflightCalibrationArmed;
uint16_t AccInflightCalibrationMeasurementDone = 0;
uint16_t AccInflightCalibrationSavetoEEProm = 0;
uint16_t AccInflightCalibrationActive = 0;
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat) void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
{ {
@ -558,8 +558,8 @@ void loop(void)
// Inflight ACC Calibration // Inflight ACC Calibration
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) { } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0; AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = 1; AccInflightCalibrationSavetoEEProm = true;
} else { } else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed; AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) { if (AccInflightCalibrationArmed) {
@ -621,14 +621,15 @@ void loop(void)
if (feature(FEATURE_INFLIGHT_ACC_CAL)) { if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50; InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0; AccInflightCalibrationArmed = false;
} }
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone) if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50; InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) { } else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = 0; AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = 1; AccInflightCalibrationSavetoEEProm = true;
} }
} }

16
src/sensors_acceleration.c
View file

@ -4,10 +4,10 @@
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. 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 uint16_t InflightcalibratingA;
extern int16_t AccInflightCalibrationArmed; extern bool AccInflightCalibrationArmed;
extern uint16_t AccInflightCalibrationMeasurementDone; extern bool AccInflightCalibrationMeasurementDone;
extern uint16_t AccInflightCalibrationSavetoEEProm; extern bool AccInflightCalibrationSavetoEEProm;
extern uint16_t AccInflightCalibrationActive; extern bool AccInflightCalibrationActive;
void ACC_Common(void) void ACC_Common(void)
{ {
@ -62,8 +62,8 @@ void ACC_Common(void)
} }
// all values are measured // all values are measured
if (InflightcalibratingA == 1) { if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0; AccInflightCalibrationActive = false;
AccInflightCalibrationMeasurementDone = 1; AccInflightCalibrationMeasurementDone = true;
toggleBeep = 2; // buzzer for indicatiing the end of calibration toggleBeep = 2; // buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred // recover saved values to maintain current flight behavior until new values are transferred
mcfg.accZero[ROLL] = accZero_saved[ROLL]; mcfg.accZero[ROLL] = accZero_saved[ROLL];
@ -75,8 +75,8 @@ void ACC_Common(void)
InflightcalibratingA--; InflightcalibratingA--;
} }
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration // 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 if (AccInflightCalibrationSavetoEEProm) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = 0; AccInflightCalibrationSavetoEEProm = false;
mcfg.accZero[ROLL] = b[ROLL] / 50; mcfg.accZero[ROLL] = b[ROLL] / 50;
mcfg.accZero[PITCH] = b[PITCH] / 50; mcfg.accZero[PITCH] = b[PITCH] / 50;
mcfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G mcfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G

4
stm32_flash.ld
View file

@ -4,7 +4,7 @@
** File : stm32_flash.ld ** File : stm32_flash.ld
** **
** Abstract : Linker script for STM32F103C8 Device with ** Abstract : Linker script for STM32F103C8 Device with
** 64KByte FLASH, 20KByte RAM ** 128KByte FLASH, 20KByte RAM
** **
***************************************************************************** *****************************************************************************
*/ */
@ -13,7 +13,7 @@
ENTRY(Reset_Handler) ENTRY(Reset_Handler)
/* Highest address of the user mode stack */ /* Highest address of the user mode stack */
_estack = 0x20005000; /* end of 10K RAM */ _estack = 0x20005000; /* end of 20K RAM */
/* Generate a link error if heap and stack don't fit into RAM */ /* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */ _Min_Heap_Size = 0; /* required amount of heap */