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Added #define for imu debug output (+16 squashed commit)

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Squashed local commits:

from       : e4265d4a13f63f82d5cf55eea2c091622f96660b
up to (inc): 72416dc74745fa8bae1aded79aa4b9ed0e389076
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-07-10 15:02:38 +10:00 • committed by ProDrone
parent c6f5b98a79
commit 45a4f11f92
21 changed files with 823 additions and 188 deletions
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34
src/main/flight/imu.h
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@ -18,13 +18,13 @@
#pragma once
extern int16_t throttleAngleCorrection;
extern uint32_t accTimeSum;
extern int accSumCount;
extern float accVelScale;
extern t_fp_vector EstG;
extern int16_t accSmooth[XYZ_AXIS_COUNT];
extern int32_t accSum[XYZ_AXIS_COUNT];
extern int16_t smallAngle;
extern uint32_t accTimeSum; // altitudehold.c
extern int accSumCount; // altitudehold.c
extern float accVelScale; // altitudehold.c
extern t_fp_vector EstG; // display.c
extern int16_t accSmooth[XYZ_AXIS_COUNT]; // blackbox.c, display.c, serial_msp.c, frsky.c, smartport.c
extern int32_t accSum[XYZ_AXIS_COUNT]; // altitudehold.c
extern int16_t smallAngle; // display.c
typedef struct rollAndPitchInclination_s {
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
@ -52,6 +52,22 @@ typedef struct imuRuntimeConfig_s {
uint8_t small_angle;
} imuRuntimeConfig_t;
typedef enum {
ACCPROC_READ = 0,
ACCPROC_CHUNK_1,
ACCPROC_CHUNK_2,
ACCPROC_CHUNK_3,
ACCPROC_CHUNK_4,
ACCPROC_CHUNK_5,
ACCPROC_CHUNK_6,
ACCPROC_CHUNK_7,
ACCPROC_COPY
} accProcessorState_e;
typedef struct accProcessor_s {
accProcessorState_e state;
} accProcessor_t;
void imuConfigure(
imuRuntimeConfig_t *initialImuRuntimeConfig,
pidProfile_t *initialPidProfile,
@ -61,7 +77,6 @@ void imuConfigure(
);
void calculateEstimatedAltitude(uint32_t currentTime);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims);
float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
@ -69,5 +84,4 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
int16_t imuCalculateHeading(t_fp_vector *vec);
void imuResetAccelerationSum(void);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t acc_for_fast_looptime);