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rearranged accelerometer autodetect code and allow user override by "set acc_hardware" in CLI (0=autodetect,1=adxl345,2=mpu6050,3=mma845x)

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added arm/disarm on left/righ roll while throttle down to  configuration options and disabled it by default. "set retarded_arm" in CLI
put gyro_cmpf_factor into settings. default is 310, can be increased to decrease acc influence. debug use only.
dropped acc_lpf_factor back to 4. those who want it at 100, make it so.
cleaned up MPU6050 driver with humanreadable register names
got rid of MMGYRO crap - no use


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@159 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-31 17:28:05 +00:00
parent e124390bb1
commit 49653ec65e
11 changed files with 5397 additions and 5312 deletions
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5
src/cli.c
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@ -48,7 +48,7 @@ const char *sensorNames[] = {
//
const char *accNames[] = {
"ADXL345", "MPU6050", "MMA845x", NULL
"", "ADXL345", "MPU6050", "MMA845x", NULL
};
typedef struct {
@ -97,6 +97,7 @@ const clivalue_t valueTable[] = {
{ "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
{ "retarded_arm", VAR_UINT8, &cfg.retarded_arm, 0, 1 },
{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
@ -121,8 +122,10 @@ const clivalue_t valueTable[] = {
{ "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
{ "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
{ "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },