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Code Issues Wiki Activity

begin initial merge of 2.2 features

Browse source 
mw2.2-merged stuff:
* implemented profiles 0-2 (called 'setting' in mwiigui)
* merged in MSP changes including profile switch
* cleaned up rc / aux switch stuff in mw.c based on 2.2 rewrite
* main loop switch for baro/sonar shit adjusted
todo: basically the rest of 2.2 changes (i think some minor imu/gps/baro updates)
baseflight-specific stuff:
* made boxitems transmission dynamic, based on enabled features. no more GPS / camstab trash if it's not enabled
* cleaned up gyro drivers to return scale factor to imu code
* set gyro_lpf now controls every supported gyro - not all take same values, see driver files for allowed ranges, in case of invalid lpf, defaults to something reasonable (around 30-40hz)

maybe couple other things I forgot. this is all 100% experimental, untested, and not even flown. thats why there's  no hex.
merge is still ongoing.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@294 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-03-14 14:03:30 +00:00
parent bba9bc291f
commit 491b3627f6
20 changed files with 1009 additions and 559 deletions
Download patch file Download diff file Expand all files Collapse all files

37
src/gps.c
View file

@ -45,12 +45,12 @@ void gpsInit(uint32_t baudrate)
GPS_set_pids();
uart2Init(baudrate, GPS_NewData, false);
if (cfg.gps_type == GPS_UBLOX)
if (mcfg.gps_type == GPS_UBLOX)
offset = 0;
else if (cfg.gps_type == GPS_MTK)
else if (mcfg.gps_type == GPS_MTK)
offset = 4;
if (cfg.gps_type != GPS_NMEA) {
if (mcfg.gps_type != GPS_NMEA) {
for (i = 0; i < 5; i++) {
uart2ChangeBaud(init_speed[i]);
switch (baudrate) {
@ -72,12 +72,12 @@ void gpsInit(uint32_t baudrate)
}
uart2ChangeBaud(baudrate);
if (cfg.gps_type == GPS_UBLOX) {
if (mcfg.gps_type == GPS_UBLOX) {
for (i = 0; i < sizeof(ubloxInit); i++) {
uart2Write(ubloxInit[i]); // send ubx init binary
delay(4);
}
} else if (cfg.gps_type == GPS_MTK) {
} else if (mcfg.gps_type == GPS_MTK) {
gpsPrint("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); // only GGA and RMC sentence
gpsPrint("$PMTK220,200*2C\r\n"); // 5 Hz update rate
}
@ -92,7 +92,7 @@ static void gpsPrint(const char *str)
{
while (*str) {
uart2Write(*str);
if (cfg.gps_type == GPS_UBLOX)
if (mcfg.gps_type == GPS_UBLOX)
delay(4);
str++;
}
@ -134,6 +134,29 @@ static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow);
int32_t wrap_18000(int32_t error);
static int32_t wrap_36000(int32_t angle);
typedef struct {
int16_t last_velocity;
} LeadFilter_PARAM;
void leadFilter_clear(LeadFilter_PARAM *param)
{
param->last_velocity = 0;
}
int32_t leadFilter_getPosition(LeadFilter_PARAM *param, int32_t pos, int16_t vel, float lag_in_seconds)
{
int16_t accel_contribution = (vel - param->last_velocity) * lag_in_seconds * lag_in_seconds;
int16_t vel_contribution = vel * lag_in_seconds;
// store velocity for next iteration
param->last_velocity = vel;
return pos + vel_contribution + accel_contribution;
}
LeadFilter_PARAM xLeadFilter;
LeadFilter_PARAM yLeadFilter;
typedef struct {
float kP;
float kI;
@ -752,7 +775,7 @@ static uint8_t hex_c(uint8_t n)
static bool GPS_newFrame(char c)
{
switch (cfg.gps_type) {
switch (mcfg.gps_type) {
case GPS_NMEA: // NMEA
case GPS_MTK: // MTK outputs NMEA too
return GPS_NMEA_newFrame(c);