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Merge pull request #869 from SteveAmor/remove_tricopter_yaw_gyro_smoothing

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Remove tricopter yaw gyro smoothing from imuUpdate
This commit is contained in:
Dominic Clifton 2015-05-29 15:39:02 +01:00
commit 41d737e29a
17 changed files with 85 additions and 98 deletions
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12
src/main/blackbox/blackbox.c
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@ -202,9 +202,9 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
#endif
/* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
{"gyroData", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroData", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroData", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
@ -486,7 +486,7 @@ static void writeIntraframe(void)
#endif
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
blackboxWriteSignedVB(blackboxCurrent->gyroData[x]);
blackboxWriteSignedVB(blackboxCurrent->gyroADC[x]);
}
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
@ -602,7 +602,7 @@ static void writeInterframe(void)
//Since gyros, accs and motors are noisy, base the prediction on the average of the history:
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
blackboxWriteSignedVB(blackboxHistory[0]->gyroData[x] - (blackboxHistory[1]->gyroData[x] + blackboxHistory[2]->gyroData[x]) / 2);
blackboxWriteSignedVB(blackboxHistory[0]->gyroADC[x] - (blackboxHistory[1]->gyroADC[x] + blackboxHistory[2]->gyroADC[x]) / 2);
}
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
@ -781,7 +781,7 @@ static void loadBlackboxState(void)
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->gyroData[i] = gyroData[i];
blackboxCurrent->gyroADC[i] = gyroADC[i];
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {