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Tidy of IMU header

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This commit is contained in:
Martin Budden 2017-02-05 20:37:20 +00:00
parent 9a8124ffc4
commit 3d1e42d1aa
14 changed files with 78 additions and 97 deletions
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37
src/main/flight/imu.h
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@ -18,13 +18,10 @@
#pragma once
#include "common/axis.h"
#include "common/maths.h"
#include "common/time.h"
#include "config/parameter_group.h"
#include "sensors/acceleration.h"
// Exported symbols
extern uint32_t accTimeSum;
extern int accSumCount;
@ -49,13 +46,6 @@ typedef struct accDeadband_s {
uint8_t z; // set the acc deadband for z-Axis, this ignores small accelerations
} accDeadband_t;
typedef struct throttleCorrectionConfig_s {
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
} throttleCorrectionConfig_t;
PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);
typedef struct imuConfig_s {
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
uint16_t dcm_ki; // DCM filter integral gain ( x 10000)
@ -74,38 +64,13 @@ typedef struct imuRuntimeConfig_s {
accDeadband_t accDeadband;
} imuRuntimeConfig_t;
typedef enum {
ACCPROC_READ = 0,
ACCPROC_CHUNK_1,
ACCPROC_CHUNK_2,
ACCPROC_CHUNK_3,
ACCPROC_CHUNK_4,
ACCPROC_CHUNK_5,
ACCPROC_CHUNK_6,
ACCPROC_CHUNK_7,
ACCPROC_COPY
} accProcessorState_e;
typedef struct accProcessor_s {
accProcessorState_e state;
} accProcessor_t;
struct pidProfile_s;
void imuConfigure(
imuConfig_t *imuConfig,
struct pidProfile_s *initialPidProfile,
uint16_t throttle_correction_angle
);
void imuConfigure(imuConfig_t *imuConfig, struct pidProfile_s *initialPidProfile, uint16_t throttle_correction_angle);
float getCosTiltAngle(void);
void calculateEstimatedAltitude(timeUs_t currentTimeUs);
void imuUpdateAttitude(timeUs_t currentTimeUs);
float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_hz);
union u_fp_vector;
int16_t imuCalculateHeading(union u_fp_vector *vec);
void imuResetAccelerationSum(void);
void imuInit(void);