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This commit is contained in:
Dominic Clifton 2014-07-31 13:47:23 +01:00
parent 0045e5c328
commit 3d65e4ff96
3 changed files with 1177 additions and 1176 deletions
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1
src/main/config/config_master.h
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@ -60,6 +60,7 @@ typedef struct master_t {
inputFilteringMode_e inputFilteringMode; // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers. inputFilteringMode_e inputFilteringMode; // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
uint8_t small_angle;
airplaneConfig_t airplaneConfig; airplaneConfig_t airplaneConfig;
int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign

10
src/main/flight/imu.c
View file

@ -78,6 +78,11 @@ float anglerad[2] = { 0.0f, 0.0f }; // absolute angle inclination in radians
static void getEstimatedAttitude(void); static void getEstimatedAttitude(void);
imuRuntimeConfig_t *imuRuntimeConfig;
pidProfile_t *pidProfile;
barometerConfig_t *barometerConfig;
accDeadband_t *accDeadband;
void imuInit() void imuInit()
{ {
smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle)); smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle));
@ -90,11 +95,6 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
throttleAngleScale = (1800.0f / M_PI) * (900.0f / throttle_correction_angle); throttleAngleScale = (1800.0f / M_PI) * (900.0f / 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, accDeadband_t *initialAccDeadband) void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband)
{ {
imuRuntimeConfig = initialImuRuntimeConfig; imuRuntimeConfig = initialImuRuntimeConfig;

2
src/main/io/serial_cli.c
View file

@ -187,7 +187,7 @@ const clivalue_t valueTable[] = {
{ "servo_pwm_rate", VAR_UINT16, &masterConfig.servo_pwm_rate, 50, 498 }, { "servo_pwm_rate", VAR_UINT16, &masterConfig.servo_pwm_rate, 50, 498 },
{ "retarded_arm", VAR_UINT8, &masterConfig.retarded_arm, 0, 1 }, { "retarded_arm", VAR_UINT8, &masterConfig.retarded_arm, 0, 1 },
{ "small_angle", VAR_UINT8, &masterConfig.small_angle, 0, 90 }, { "small_angle", VAR_UINT8, &masterConfig.small_angle, 0, 180 },
{ "flaps_speed", VAR_UINT8, &masterConfig.airplaneConfig.flaps_speed, 0, 100 }, { "flaps_speed", VAR_UINT8, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },