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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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167
src/main/config/config_master.h
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@ -1,83 +1,84 @@
/* /*
* This file is part of Cleanflight. * This file is part of Cleanflight.
* *
* Cleanflight is free software: you can redistribute it and/or modify * Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* Cleanflight is distributed in the hope that it will be useful, * Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#pragma once #pragma once
// System-wide // System-wide
typedef struct master_t { typedef struct master_t {
uint8_t version; uint8_t version;
uint16_t size; uint16_t size;
uint8_t magic_be; // magic number, should be 0xBE uint8_t magic_be; // magic number, should be 0xBE
uint8_t mixerConfiguration; uint8_t mixerConfiguration;
uint32_t enabledFeatures; uint32_t enabledFeatures;
uint16_t looptime; // imu loop time in us uint16_t looptime; // imu loop time in us
uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band
motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
// motor/esc/servo related stuff // motor/esc/servo related stuff
escAndServoConfig_t escAndServoConfig; escAndServoConfig_t escAndServoConfig;
flight3DConfig_t flight3DConfig; flight3DConfig_t flight3DConfig;
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz) uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz) uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
// global sensor-related stuff // global sensor-related stuff
sensorAlignmentConfig_t sensorAlignmentConfig; sensorAlignmentConfig_t sensorAlignmentConfig;
boardAlignment_t boardAlignment; boardAlignment_t boardAlignment;
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal) int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen. uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter. uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
uint16_t gyro_cmpfm_factor; // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter uint16_t gyro_cmpfm_factor; // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
gyroConfig_t gyroConfig; gyroConfig_t gyroConfig;
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees). uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
flightDynamicsTrims_t accZero; flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero; flightDynamicsTrims_t magZero;
batteryConfig_t batteryConfig; batteryConfig_t batteryConfig;
rxConfig_t rxConfig; rxConfig_t rxConfig;
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;
int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign airplaneConfig_t airplaneConfig;
int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign
#ifdef GPS
gpsConfig_t gpsConfig; #ifdef GPS
#endif gpsConfig_t gpsConfig;
#endif
serialConfig_t serialConfig;
serialConfig_t serialConfig;
telemetryConfig_t telemetryConfig;
telemetryConfig_t telemetryConfig;
profile_t profile[3]; // 3 separate profiles
uint8_t current_profile_index; // currently loaded profile profile_t profile[3]; // 3 separate profiles
uint8_t current_profile_index; // currently loaded profile
uint8_t magic_ef; // magic number, should be 0xEF
uint8_t chk; // XOR checksum uint8_t magic_ef; // magic number, should be 0xEF
} master_t; uint8_t chk; // XOR checksum
} master_t;
extern master_t masterConfig;
extern profile_t currentProfile; extern master_t masterConfig;
extern profile_t currentProfile;

10
src/main/flight/imu.c
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@ -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;

2176
src/main/io/serial_cli.c
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