mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
rearranged accelerometer autodetect code and allow user override by "set acc_hardware" in CLI (0=autodetect,1=adxl345,2=mpu6050,3=mma845x)
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
parent
e124390bb1
commit
49653ec65e
11 changed files with 5397 additions and 5312 deletions
149
baseflight.uvopt
149
baseflight.uvopt
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||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>40</FileNumber>
|
||||
<FileNumber>41</FileNumber>
|
||||
<FileType>2</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<Focus>0</Focus>
|
||||
|
|
|
|||
5167
obj/baseflight.hex
5167
obj/baseflight.hex
File diff suppressed because it is too large
Load diff
File diff suppressed because it is too large
Load diff
|
|
@ -26,6 +26,14 @@ typedef enum {
|
|||
SENSOR_GPS = 1 << 4,
|
||||
} AvailableSensors;
|
||||
|
||||
// Type of accelerometer used/detected
|
||||
typedef enum AccelSensors {
|
||||
ACC_DEFAULT = 0,
|
||||
ACC_ADXL345 = 1,
|
||||
ACC_MPU6050 = 2,
|
||||
ACC_MMA8452 = 3,
|
||||
} AccelSensors;
|
||||
|
||||
typedef enum {
|
||||
FEATURE_PPM = 1 << 0,
|
||||
FEATURE_VBAT = 1 << 1,
|
||||
|
|
|
|||
|
|
@ -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 },
|
||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ config_t cfg;
|
|||
const char rcChannelLetters[] = "AERT1234";
|
||||
|
||||
static uint32_t enabledSensors = 0;
|
||||
uint8_t checkNewConf = 17;
|
||||
uint8_t checkNewConf = 18;
|
||||
|
||||
void parseRcChannels(const char *input)
|
||||
{
|
||||
|
|
@ -128,7 +128,9 @@ void checkFirstTime(bool reset)
|
|||
cfg.accZero[1] = 0;
|
||||
cfg.accZero[2] = 0;
|
||||
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_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
|
||||
cfg.vbatscale = 110;
|
||||
|
|
@ -143,6 +145,7 @@ void checkFirstTime(bool reset)
|
|||
cfg.midrc = 1500;
|
||||
cfg.mincheck = 1100;
|
||||
cfg.maxcheck = 1900;
|
||||
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
|
||||
|
||||
// Failsafe Variables
|
||||
cfg.failsafe_delay = 10; // 1sec
|
||||
|
|
|
|||
|
|
@ -34,6 +34,7 @@
|
|||
#define MPU_RA_YA_OFFS_L_TC 0x09
|
||||
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
|
||||
#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_USRL 0x14
|
||||
#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 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 mpu6050AccRead(int16_t * accData);
|
||||
static void mpu6050AccAlign(int16_t * accData);
|
||||
|
|
@ -128,6 +141,7 @@ int16_t dmpGyroData[3];
|
|||
#endif
|
||||
|
||||
extern uint16_t acc_1G;
|
||||
uint8_t mpuProductID = 0;
|
||||
|
||||
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
|
||||
{
|
||||
|
|
@ -143,6 +157,9 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
|
|||
if (sig != MPU6050_ADDRESS)
|
||||
return false;
|
||||
|
||||
// get chip revision
|
||||
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
|
||||
|
||||
acc->init = mpu6050AccInit;
|
||||
acc->read = mpu6050AccRead;
|
||||
acc->align = mpu6050AccAlign;
|
||||
|
|
@ -160,11 +177,15 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
|
|||
static void mpu6050AccInit(void)
|
||||
{
|
||||
#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
|
||||
// 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;
|
||||
}
|
||||
|
||||
|
|
@ -197,12 +218,12 @@ static void mpu6050AccAlign(int16_t * accData)
|
|||
static void mpu6050GyroInit(void)
|
||||
{
|
||||
#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);
|
||||
i2cWrite(MPU6050_ADDRESS, 0x19, 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, 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, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
|
||||
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
|
||||
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, 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, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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)) {
|
||||
|
|
|
|||
4
src/mw.c
4
src/mw.c
|
|
@ -326,10 +326,10 @@ void loop(void)
|
|||
} else if (armed)
|
||||
armed = 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)
|
||||
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) {
|
||||
armed = 1;
|
||||
headFreeModeHold = heading;
|
||||
|
|
|
|||
10
src/mw.h
10
src/mw.h
|
|
@ -53,13 +53,6 @@ typedef enum GimbalFlags {
|
|||
GIMBAL_DISABLEAUX34 = 1 << 2,
|
||||
} GimbalFlags;
|
||||
|
||||
// Type of accelerometer used
|
||||
typedef enum AccelSensors {
|
||||
ADXL345,
|
||||
MPU6050,
|
||||
MMA845x
|
||||
} AccelSensors;
|
||||
|
||||
/*********** RC alias *****************/
|
||||
#define ROLL 0
|
||||
#define PITCH 1
|
||||
|
|
@ -120,8 +113,10 @@ typedef struct config_t {
|
|||
int16_t accTrim[2];
|
||||
|
||||
// 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
|
||||
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
|
||||
|
||||
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 mincheck; // minimum rc end
|
||||
uint16_t maxcheck; // maximum rc end
|
||||
uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
|
||||
|
||||
// Failsafe related configuration
|
||||
uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
|
||||
|
|
|
|||
108
src/sensors.c
108
src/sensors.c
|
|
@ -19,7 +19,7 @@ extern float magneticDeclination;
|
|||
|
||||
sensor_t acc; // acc 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
|
||||
// FY90Q analog gyro/acc
|
||||
|
|
@ -32,49 +32,73 @@ void sensorsAutodetect(void)
|
|||
void sensorsAutodetect(void)
|
||||
{
|
||||
int16_t deg, min;
|
||||
|
||||
drv_adxl345_config_t acc_params;
|
||||
bool haveMpu6k = false;
|
||||
|
||||
// configure parameters for ADXL345 driver
|
||||
acc_params.useFifo = false;
|
||||
acc_params.dataRate = 800; // unused currently
|
||||
|
||||
// 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;
|
||||
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
|
||||
if (mpu6050Detect(&acc, &gyro)) {
|
||||
// this filled up acc.* struct with init values
|
||||
haveMpu6k = true;
|
||||
} else if (!mpu3050Detect(&gyro)) {
|
||||
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
|
||||
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)) {
|
||||
sensorsSet(SENSOR_ACC);
|
||||
acc.init();
|
||||
accHardware = MMA845x;
|
||||
accHardware = ACC_MMA8452;
|
||||
if (cfg.acc_hardware == ACC_MMA8452)
|
||||
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.
|
||||
gyro.init();
|
||||
// todo: this is driver specific :(
|
||||
if (!haveMpu6k)
|
||||
mpu3050Config(cfg.gyro_lpf);
|
||||
|
||||
// calculate magnetic declination
|
||||
|
|
@ -252,15 +276,6 @@ static void GYRO_Common(void)
|
|||
static int32_t g[3];
|
||||
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) {
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
// Reset g[axis] at start of calibration
|
||||
|
|
@ -279,25 +294,12 @@ static void GYRO_Common(void)
|
|||
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++) {
|
||||
gyroADC[axis] -= gyroZero[axis];
|
||||
//anti gyro glitch, limit the variation between two consecutive readings
|
||||
gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
|
||||
previousGyroADC[axis] = gyroADC[axis];
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void Gyro_getADC(void)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue