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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
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29
src/main.c
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@ -48,17 +48,15 @@ int main(void)
readEEPROM();
// configure power ADC
if (cfg.power_adc_channel > 0 && (cfg.power_adc_channel == 1 || cfg.power_adc_channel == 9))
adc_params.powerAdcChannel = cfg.power_adc_channel;
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
else {
adc_params.powerAdcChannel = 0;
cfg.power_adc_channel = 0;
mcfg.power_adc_channel = 0;
}
adcInit(&adc_params);
serialInit(cfg.serial_baudrate);
// We have these sensors
#ifndef FY90Q
// AfroFlight32
@ -70,7 +68,7 @@ int main(void)
mixerInit(); // this will set useServo var depending on mixer type
// when using airplane/wing mixer, servo/motor outputs are remapped
if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
@ -79,9 +77,9 @@ int main(void)
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
pwm_params.useServos = useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = cfg.motor_pwm_rate;
pwm_params.servoPwmRate = cfg.servo_pwm_rate;
switch (cfg.power_adc_channel) {
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
switch (mcfg.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
break;
@ -105,7 +103,7 @@ int main(void)
// spektrum and GPS are mutually exclusive
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
if (feature(FEATURE_GPS))
gpsInit(cfg.gps_baudrate);
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
@ -135,11 +133,14 @@ int main(void)
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
serialInit(mcfg.serial_baudrate);
previousTime = micros();
if (cfg.mixerConfiguration == MULTITYPE_GIMBAL)
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = 400;
calibratingG = 1000;
calibratingG = 1000;
calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLES_25 = 1;
// loopy
@ -151,6 +152,6 @@ int main(void)
void HardFault_Handler(void)
{
// fall out of the sky
writeAllMotors(cfg.mincommand);
writeAllMotors(mcfg.mincommand);
while (1);
}