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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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6
src/imu.c
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@ -121,7 +121,7 @@ void computeIMU(void)
/* Increasing this value would reduce and delay Acc influence on the output of the filter*/
/* Default WMC value: 300*/
// #define GYR_CMPF_FACTOR 310.0f
#define GYR_CMPF_FACTOR 500.0f
// #define GYR_CMPF_FACTOR 500.0f
/* Set the Gyro Weight for Gyro/Magnetometer complementary filter */
/* Increasing this value would reduce and delay Magnetometer influence on the output of the filter*/
@ -130,7 +130,7 @@ void computeIMU(void)
//****** end of advanced users settings *************
#define INV_GYR_CMPF_FACTOR (1.0f / (GYR_CMPF_FACTOR + 1.0f))
#define INV_GYR_CMPF_FACTOR (1.0f / ((float)cfg.gyro_cmpf_factor + 1.0f))
#define INV_GYR_CMPFM_FACTOR (1.0f / (GYR_CMPFM_FACTOR + 1.0f))
#define GYRO_SCALE ((1998 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) // 32767 / 16.4lsb/dps for MPU3000
@ -221,7 +221,7 @@ static void getEstimatedAttitude(void)
// To do that, we just skip filter, as EstV already rotated by Gyro
if ((36 < accMag && accMag < 196) || smallAngle25) {
for (axis = 0; axis < 3; axis++)
EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
EstG.A[axis] = (EstG.A[axis] * (float)cfg.gyro_cmpf_factor + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
}
if (sensors(SENSOR_MAG)) {