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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)

Browse source 
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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149
baseflight.uvopt
View file

@ -73,7 +73,7 @@
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@ -157,6 +157,23 @@
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@ -277,7 +294,7 @@
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obj/baseflight.hex
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obj/baseflight_fy90q.hex
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8
src/board.h
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@ -26,6 +26,14 @@ typedef enum {
SENSOR_GPS = 1 << 4, SENSOR_GPS = 1 << 4,
} AvailableSensors; } AvailableSensors;
// Type of accelerometer used/detected
typedef enum AccelSensors {
ACC_DEFAULT = 0,
ACC_ADXL345 = 1,
ACC_MPU6050 = 2,
ACC_MMA8452 = 3,
} AccelSensors;
typedef enum { typedef enum {
FEATURE_PPM = 1 << 0, FEATURE_PPM = 1 << 0,
FEATURE_VBAT = 1 << 1, FEATURE_VBAT = 1 << 1,

5
src/cli.c
View file

@ -48,7 +48,7 @@ const char *sensorNames[] = {
// //
const char *accNames[] = { const char *accNames[] = {
"ADXL345", "MPU6050", "MMA845x", NULL "", "ADXL345", "MPU6050", "MMA845x", NULL
}; };
typedef struct { typedef struct {
@ -97,6 +97,7 @@ const clivalue_t valueTable[] = {
{ "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 }, { "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 }, { "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 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_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 }, { "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 }, { "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_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 }, { "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 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 }, { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 }, { "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 }, { "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 }, { "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 }, { "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },

7
src/config.c
View file

@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234"; const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0; static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 17; uint8_t checkNewConf = 18;
void parseRcChannels(const char *input) void parseRcChannels(const char *input)
{ {
@ -128,7 +128,9 @@ void checkFirstTime(bool reset)
cfg.accZero[1] = 0; cfg.accZero[1] = 0;
cfg.accZero[2] = 0; cfg.accZero[2] = 0;
cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero. cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.acc_lpf_factor = 100; cfg.acc_hardware = ACC_DEFAULT; // default/autodetect
cfg.acc_lpf_factor = 4;
cfg.gyro_cmpf_factor = 310; // default MWC
cfg.gyro_lpf = 42; cfg.gyro_lpf = 42;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110; cfg.vbatscale = 110;
@ -143,6 +145,7 @@ void checkFirstTime(bool reset)
cfg.midrc = 1500; cfg.midrc = 1500;
cfg.mincheck = 1100; cfg.mincheck = 1100;
cfg.maxcheck = 1900; cfg.maxcheck = 1900;
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
// Failsafe Variables // Failsafe Variables
cfg.failsafe_delay = 10; // 1sec cfg.failsafe_delay = 10; // 1sec

39
src/drv_mpu6050.c
View file

@ -34,6 +34,7 @@
#define MPU_RA_YA_OFFS_L_TC 0x09 #define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU_RA_ZA_OFFS_L_TC 0x0B #define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
#define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU_RA_XG_OFFS_USRL 0x14 #define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
@ -114,6 +115,18 @@
// #define MPU6050_DLPF_CFG 0 // 256Hz // #define MPU6050_DLPF_CFG 0 // 256Hz
#define MPU6050_DLPF_CFG 3 // 42Hz #define MPU6050_DLPF_CFG 3 // 42Hz
#define MPU6000ES_REV_C4 0x14
#define MPU6000ES_REV_C5 0x15
#define MPU6000ES_REV_D6 0x16
#define MPU6000ES_REV_D7 0x17
#define MPU6000ES_REV_D8 0x18
#define MPU6000_REV_C4 0x54
#define MPU6000_REV_C5 0x55
#define MPU6000_REV_D6 0x56
#define MPU6000_REV_D7 0x57
#define MPU6000_REV_D8 0x58
#define MPU6000_REV_D9 0x59
static void mpu6050AccInit(void); static void mpu6050AccInit(void);
static void mpu6050AccRead(int16_t * accData); static void mpu6050AccRead(int16_t * accData);
static void mpu6050AccAlign(int16_t * accData); static void mpu6050AccAlign(int16_t * accData);
@ -128,6 +141,7 @@ int16_t dmpGyroData[3];
#endif #endif
extern uint16_t acc_1G; extern uint16_t acc_1G;
uint8_t mpuProductID = 0;
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro) bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
{ {
@ -143,6 +157,9 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
if (sig != MPU6050_ADDRESS) if (sig != MPU6050_ADDRESS)
return false; return false;
// get chip revision
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
acc->init = mpu6050AccInit; acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead; acc->read = mpu6050AccRead;
acc->align = mpu6050AccAlign; acc->align = mpu6050AccAlign;
@ -160,11 +177,15 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
static void mpu6050AccInit(void) static void mpu6050AccInit(void)
{ {
#ifndef MPU6050_DMP #ifndef MPU6050_DMP
i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10); // ACCEL_CONFIG -- AFS_SEL=2 (Full Scale = +/-8G) ; ACCELL_HPF=0 //note something is wrong in the spec. // Product ID detection code from eosBandi (or rather, DIYClones). This doesn't cover product ID for MPU6050 as far as I can tell
if ((mpuProductID == MPU6000ES_REV_C4) || (mpuProductID == MPU6000ES_REV_C5) || (mpuProductID == MPU6000_REV_C4) || (mpuProductID == MPU6000_REV_C5)) {
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1 << 3);
} else {
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
}
#endif #endif
// note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
// confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
// seems to be not a problem on MPU6000 lol
acc_1G = 1023; acc_1G = 1023;
} }
@ -197,12 +218,12 @@ static void mpu6050AccAlign(int16_t * accData)
static void mpu6050GyroInit(void) static void mpu6050GyroInit(void)
{ {
#ifndef MPU6050_DMP #ifndef MPU6050_DMP
i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1 i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5); delay(5);
i2cWrite(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference) i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz) i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
#endif #endif
} }

6
src/imu.c
View file

@ -121,7 +121,7 @@ void computeIMU(void)
/* Increasing this value would reduce and delay Acc influence on the output of the filter*/ /* Increasing this value would reduce and delay Acc influence on the output of the filter*/
/* Default WMC value: 300*/ /* Default WMC value: 300*/
// #define GYR_CMPF_FACTOR 310.0f // #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 */ /* Set the Gyro Weight for Gyro/Magnetometer complementary filter */
/* Increasing this value would reduce and delay Magnetometer influence on the output of the 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 ************* //****** 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 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 #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 // To do that, we just skip filter, as EstV already rotated by Gyro
if ((36 < accMag && accMag < 196) || smallAngle25) { if ((36 < accMag && accMag < 196) || smallAngle25) {
for (axis = 0; axis < 3; axis++) 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)) { if (sensors(SENSOR_MAG)) {

4
src/mw.c
View file

@ -326,10 +326,10 @@ void loop(void)
} else if (armed) } else if (armed)
armed = 0; armed = 0;
rcDelayCommand = 0; rcDelayCommand = 0;
} else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck) && armed == 1) { } else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck) && armed == 1 && cfg.retarded_arm == 1) {
if (rcDelayCommand == 20) if (rcDelayCommand == 20)
armed = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged armed = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
} else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck) && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) { } else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck) && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1 && cfg.retarded_arm == 1) {
if (rcDelayCommand == 20) { if (rcDelayCommand == 20) {
armed = 1; armed = 1;
headFreeModeHold = heading; headFreeModeHold = heading;

10
src/mw.h
View file

@ -53,13 +53,6 @@ typedef enum GimbalFlags {
GIMBAL_DISABLEAUX34 = 1 << 2, GIMBAL_DISABLEAUX34 = 1 << 2,
} GimbalFlags; } GimbalFlags;
// Type of accelerometer used
typedef enum AccelSensors {
ADXL345,
MPU6050,
MMA845x
} AccelSensors;
/*********** RC alias *****************/ /*********** RC alias *****************/
#define ROLL 0 #define ROLL 0
#define PITCH 1 #define PITCH 1
@ -120,8 +113,10 @@ typedef struct config_t {
int16_t accTrim[2]; int16_t accTrim[2];
// sensor-related stuff // sensor-related stuff
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
uint16_t gyro_lpf; // mpuX050 LPF setting uint16_t gyro_lpf; // mpuX050 LPF setting
uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
uint16_t activate[CHECKBOXITEMS]; // activate switches uint16_t activate[CHECKBOXITEMS]; // activate switches
@ -137,6 +132,7 @@ typedef struct config_t {
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end uint16_t maxcheck; // maximum rc end
uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
// Failsafe related configuration // Failsafe related configuration
uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10) uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)

108
src/sensors.c
View file

@ -19,7 +19,7 @@ extern float magneticDeclination;
sensor_t acc; // acc access functions sensor_t acc; // acc access functions
sensor_t gyro; // gyro access functions sensor_t gyro; // gyro access functions
uint8_t accHardware = 0; // which accel chip is used. uint8_t accHardware = ACC_DEFAULT; // which accel chip is used/detected
#ifdef FY90Q #ifdef FY90Q
// FY90Q analog gyro/acc // FY90Q analog gyro/acc
@ -32,49 +32,73 @@ void sensorsAutodetect(void)
void sensorsAutodetect(void) void sensorsAutodetect(void)
{ {
int16_t deg, min; int16_t deg, min;
drv_adxl345_config_t acc_params; drv_adxl345_config_t acc_params;
bool haveMpu6k = false;
// configure parameters for ADXL345 driver // Autodetect gyro hardware. We have MPU3050 or MPU6050.
acc_params.useFifo = false; if (mpu6050Detect(&acc, &gyro)) {
acc_params.dataRate = 800; // unused currently // this filled up acc.* struct with init values
haveMpu6k = true;
// Detect what's available
if (!adxl345Detect(&acc_params, &acc))
sensorsClear(SENSOR_ACC);
if (!bmp085Init())
sensorsClear(SENSOR_BARO);
if (!hmc5883lDetect())
sensorsClear(SENSOR_MAG);
// Init sensors
if (sensors(SENSOR_ACC)) {
acc.init();
accHardware = ADXL345;
}
if (sensors(SENSOR_BARO))
bmp085Init();
// special case for supported gyros - MPU3050 and MPU6050
if (mpu6050Detect(&acc, &gyro)) { // first, try MPU6050, and re-enable acc (if ADXL345 is missing) since this chip has it built in
sensorsSet(SENSOR_ACC);
acc.init();
accHardware = MPU6050;
} else if (!mpu3050Detect(&gyro)) { } else if (!mpu3050Detect(&gyro)) {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error. // if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
failureMode(3); failureMode(3);
} }
// Try to init MMA8452 // Accelerometer. Fuck it. Let user break shit.
retry:
switch (cfg.acc_hardware) {
case 0: // autodetect
case 1: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc))
accHardware = ACC_ADXL345;
if (cfg.acc_hardware == ACC_ADXL345)
break;
; // fallthrough
case 2: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (cfg.acc_hardware == ACC_MPU6050)
break;
}
; // fallthrough
case 3: // MMA8452
if (mma8452Detect(&acc)) { if (mma8452Detect(&acc)) {
sensorsSet(SENSOR_ACC); accHardware = ACC_MMA8452;
acc.init(); if (cfg.acc_hardware == ACC_MMA8452)
accHardware = MMA845x; break;
}
} }
// Found anything? Check if user fucked up or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (cfg.acc_hardware > ACC_DEFAULT) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
cfg.acc_hardware = ACC_DEFAULT;
goto retry;
} else {
// We're really screwed
sensorsClear(SENSOR_ACC);
}
}
// Detect what else is available
if (!bmp085Init())
sensorsClear(SENSOR_BARO);
if (!hmc5883lDetect())
sensorsClear(SENSOR_MAG);
// Now time to init them, acc first
if (sensors(SENSOR_ACC))
acc.init();
if (sensors(SENSOR_BARO))
bmp085Init();
// this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do. // this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
gyro.init(); gyro.init();
// todo: this is driver specific :( // todo: this is driver specific :(
if (!haveMpu6k)
mpu3050Config(cfg.gyro_lpf); mpu3050Config(cfg.gyro_lpf);
// calculate magnetic declination // calculate magnetic declination
@ -252,15 +276,6 @@ static void GYRO_Common(void)
static int32_t g[3]; static int32_t g[3];
uint8_t axis; uint8_t axis;
#if defined MMGYRO
// Moving Average Gyros by Magnetron1
//---------------------------------------------------
static int16_t mediaMobileGyroADC[3][MMGYROVECTORLENGTH];
static int32_t mediaMobileGyroADCSum[3];
static uint8_t mediaMobileGyroIDX;
//---------------------------------------------------
#endif
if (calibratingG > 0) { if (calibratingG > 0) {
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
// Reset g[axis] at start of calibration // Reset g[axis] at start of calibration
@ -279,25 +294,12 @@ static void GYRO_Common(void)
calibratingG--; calibratingG--;
} }
#ifdef MMGYRO
mediaMobileGyroIDX = ++mediaMobileGyroIDX % MMGYROVECTORLENGTH;
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
mediaMobileGyroADCSum[axis] -= mediaMobileGyroADC[axis][mediaMobileGyroIDX];
//anti gyro glitch, limit the variation between two consecutive readings
mediaMobileGyroADC[axis][mediaMobileGyroIDX] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
mediaMobileGyroADCSum[axis] += mediaMobileGyroADC[axis][mediaMobileGyroIDX];
gyroADC[axis] = mediaMobileGyroADCSum[axis] / MMGYROVECTORLENGTH;
previousGyroADC[axis] = gyroADC[axis];
}
#else
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis]; gyroADC[axis] -= gyroZero[axis];
//anti gyro glitch, limit the variation between two consecutive readings //anti gyro glitch, limit the variation between two consecutive readings
gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800); gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
previousGyroADC[axis] = gyroADC[axis]; previousGyroADC[axis] = gyroADC[axis];
} }
#endif
} }
void Gyro_getADC(void) void Gyro_getADC(void)