Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 05:15:25 +03:00
Code Issues Wiki Activity

Replace global flags with stateFlags, flightModeFlags and armingFlags.

Browse source 
Each flag was previously a whole byte, now all of the flags only take up
4 bytes as they are represented by bit masks.

This is cleaner because the different kind of flags are now separated.

Additionally this changes the behaviour of arming slightly.  When using
a switch to arm the aircraft will not arm unless the switch has been in
the off state once.  This prevents arming if you power the aircraft with
a low throttle and the switch in the on position.
This commit is contained in:
Dominic Clifton 2014-08-24 12:11:30 +01:00
parent 1ea014ae25
commit 3f0754d295
18 changed files with 220 additions and 164 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/main/flight/imu.c
View file

@ -239,7 +239,7 @@ void acc_calc(uint32_t deltaT)
rotateV(&accel_ned.V, &rpy);
if (imuRuntimeConfig->acc_unarmedcal == 1) {
if (!f.ARMED) {
if (!ARMING_FLAG(ARMED)) {
accZoffset -= accZoffset / 64;
accZoffset += accel_ned.V.Z;
}
@ -329,7 +329,11 @@ static void getEstimatedAttitude(void)
EstG.A[axis] = (EstG.A[axis] * imuRuntimeConfig->gyro_cmpf_factor + accSmooth[axis]) * invGyroComplimentaryFilterFactor;
}
f.SMALL_ANGLE = (EstG.A[Z] > smallAngle);
if (EstG.A[Z] > smallAngle) {
ENABLE_STATE(SMALL_ANGLE);
} else {
DISABLE_STATE(SMALL_ANGLE);
}
// Attitude of the estimated vector
anglerad[AI_ROLL] = atan2f(EstG.V.Y, EstG.V.Z);