corrected gyro scale factor for MPU3000/6000

fixed fy90q battery adc (which didn't actually exist)
spektrum channel order is configurable by 'map' command (maybe).

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@147 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

baseflight.uvopt

@@ -827,10 +827,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>12</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
+      <TopLine>49</TopLine>
-      <CurrentLine>17</CurrentLine>
+      <CurrentLine>62</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>

baseflight.uvproj

@@ -1787,7 +1787,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
-            <Optim>4</Optim>
+            <Optim>1</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>0</OneElfS>

src/drv_adc_fy90q.c

@@ -1,6 +1,6 @@
 #include "board.h"
 
-#define ADC_CHANNELS 10
+#define ADC_CHANNELS 9
 
 volatile uint16_t adcData[ADC_CHANNELS] = { 0, };
 extern uint16_t acc_1G;
@@ -82,8 +82,6 @@ void adcInit(void)
     ADC_RegularChannelConfig(ADC1, ADC_Channel_6, 8, ADC_SampleTime_28Cycles5); // POT_AIL
     ADC_RegularChannelConfig(ADC1, ADC_Channel_7, 9, ADC_SampleTime_28Cycles5); // POT_RUD
 
-    ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 10, ADC_SampleTime_28Cycles5); // Power Monitor??
-
     ADC_DMACmd(ADC1, ENABLE);
 
     ADC_Cmd(ADC1, ENABLE);
@@ -97,6 +95,9 @@ void adcInit(void)
 
 static void adcAccRead(int16_t *accelData)
 {
+    // ADXL335
+    // 300mV/g
+    // Vcc 3.0V
     accelData[0] = adcData[3];
     accelData[1] = adcData[4];
     accelData[2] = adcData[5];
@@ -109,6 +110,17 @@ static void adcAccAlign(int16_t *accelData)
 
 static void adcGyroRead(int16_t *gyroData)
 {
+    // Vcc: 3.0V
+    // Pitch/Roll: LPR550AL, 2000dps mode.
+    // 0.5mV/dps
+    // Zero-rate: 1.23V
+    // Yaw: LPY550AL, 2000dps mode.
+    // 0.5mV/dps
+    // Zero-rate: 1.23V
+
+    // Need to match with: 14.375lsb per dps
+    // 12-bit ADC
+
     gyroData[0] = adcData[0] * 2;
     gyroData[1] = adcData[1] * 2;
     gyroData[2] = adcData[2] * 2;
@@ -126,5 +138,5 @@ static void adcDummyInit(void)
 
 uint16_t adcGetBattery(void)
 {
-    return adcData[9];
+    return 0;
 }

src/imu.c

@@ -129,7 +129,10 @@ void computeIMU(void)
 
 #define INV_GYR_CMPF_FACTOR   (1.0f / (GYR_CMPF_FACTOR  + 1.0f))
 #define INV_GYR_CMPFM_FACTOR  (1.0f / (GYR_CMPFM_FACTOR + 1.0f))
-#define GYRO_SCALE ((2380 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f))     //should be 2279.44 but 2380 gives better result
+
+#define GYRO_SCALE ((1998 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f))     // 32767 / 16.4lsb/dps for MPU3000
+
+// #define GYRO_SCALE ((2380 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f))     //should be 2279.44 but 2380 gives better result (ITG-3200)
   // +-2000/sec deg scale
   //#define GYRO_SCALE ((200.0f * PI)/((32768.0f / 5.0f / 4.0f ) * 180.0f * 1000000.0f) * 1.5f)     
   // +- 200/sec deg scale

src/spektrum.c

@@ -60,7 +60,7 @@ bool spektrumFrameComplete(void)
     return rcFrameComplete;
 }
 
-static const uint8_t spekRcChannelMap[SPEK_MAX_CHANNEL] = {1, 2, 3, 0, 4, 5, 6};
+// static const uint8_t spekRcChannelMap[SPEK_MAX_CHANNEL] = {1, 2, 3, 0, 4, 5, 6};
 
 uint16_t spektrumReadRawRC(uint8_t chan)
 {
@@ -78,12 +78,12 @@ uint16_t spektrumReadRawRC(uint8_t chan)
     }
 
     if (chan >= SPEK_MAX_CHANNEL || !spekDataIncoming) {
-        data = 1500;
+        data = cfg.midrc;
     } else {
         if (cfg.spektrum_hires)
-            data = 988 + (spekChannelData[spekRcChannelMap[chan]] >> 1);   // 2048 mode
+            data = 988 + (spekChannelData[cfg.rcmap[chan]] >> 1);   // 2048 mode
         else
-            data = 988 + spekChannelData[spekRcChannelMap[chan]];          // 1024 mode
+            data = 988 + spekChannelData[cfg.rcmap[chan]];          // 1024 mode
     }
     
     return data;