Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

More Jitter Enhancements for Naze target

Browse source 
remove debug

Anti Jitter Enhancements for Naze target

Jitter Optimalisation without emf avoidance
This commit is contained in:
borisbstyle 2015-09-23 11:59:51 +02:00
parent 9ed1c46065
commit 4a492c611a
3 changed files with 64 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

59
src/main/flight/imu.c
View file

@ -48,7 +48,10 @@
#include "config/runtime_config.h"
//#define DEBUG_IMU
#define DEBUG_IMU_SPEED
//#define DEBUG_IMU_SPEED
#define MAX_ACC_PROCESSING 360 // Anti jitter equal acc processing each cycle
#define MAX_GYRO_PROCESSING 100 // Anti jitter equal gyro processing each cycle
int16_t accSmooth[XYZ_AXIS_COUNT];
int32_t accSum[XYZ_AXIS_COUNT];
@ -186,23 +189,40 @@ int16_t imuCalculateHeading(t_fp_vector *vec)
#if 0
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#if defined(NAZE)
uint32_t accProcessTime, gyroProcessTime;
#endif
#if defined(NAZE) || defined(DEBUG_IMU_SPEED)
uint32_t time = micros();
#endif
gyroUpdate();
#if defined(NAZE)
while (gyroProcessTime < MAX_GYRO_PROCESSING ) {
gyroProcessTime = micros() - time;
}
#endif
#ifdef DEBUG_IMU_SPEED
debug[0] = micros() - time;
time = micros();
debug[0] = micros() - time; // gyro read time
#endif
if (sensors(SENSOR_ACC)) {
#if defined(NAZE) || defined(DEBUG_IMU_SPEED)
time = micros();
#endif
qAccProcessingStateMachine(accelerometerTrims);
#if defined(NAZE)
while (accProcessTime < MAX_ACC_PROCESSING) {
accProcessTime = micros() - time;
}
#endif
} else {
accADC[X] = 0;
accADC[Y] = 0;
accADC[Z] = 0;
}
#ifdef DEBUG_IMU_SPEED
debug[2] = debug[0] + debug[1];
debug[1] = micros() - time; // acc read time
debug[2] = debug[0] + debug[1]; // gyro + acc read time
#endif
}
@ -210,23 +230,40 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#if defined(NAZE)
uint32_t accProcessTime, gyroProcessTime;
#endif
#if defined(NAZE) || defined(DEBUG_IMU_SPEED)
uint32_t time = micros();
#endif
gyroUpdate();
#if defined(NAZE)
while (gyroProcessTime < MAX_GYRO_PROCESSING ) {
gyroProcessTime = micros() - time;
}
#endif
#ifdef DEBUG_IMU_SPEED
debug[0] = micros() - time;
time = micros();
debug[0] = micros() - time; // gyro read time
#endif
if (sensors(SENSOR_ACC)) {
#if defined(NAZE) || defined(DEBUG_IMU_SPEED)
time = micros();
#endif
qAccProcessingStateMachine(accelerometerTrims);
#if defined(NAZE)
while (accProcessTime < MAX_ACC_PROCESSING) {
accProcessTime = micros() - time;
}
#endif
} else {
accADC[X] = 0;
accADC[Y] = 0;
accADC[Z] = 0;
}
#ifdef DEBUG_IMU_SPEED
debug[2] = debug[0] + debug[1];
debug[1] = micros() - time; // acc read time
debug[2] = debug[0] + debug[1]; // gyro + acc read time
#endif
}