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Changing all line endings to WINDOWS line endings (CR+LF) and removing all End-Of-Line whitespace and using spaces instead of tabs. Please ensure you configure your editors and tools to follow suit. If using git please enable autocrlf in your .git/config file.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@393 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
dominicc1974@gmail.com 2013-09-06 23:14:48 +00:00
parent 929bbc8c3f
commit 4c191270bf
41 changed files with 2000 additions and 2000 deletions
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10
src/imu.c
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@ -355,7 +355,7 @@ static void getEstimatedAttitude(void)
if (cfg.throttle_angle_correction) {
int cosZ = EstG.V.Z / acc_1G * 100.0f;
throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8;
}
}
@ -391,9 +391,9 @@ int getEstimatedAltitude(void)
// pressure relative to ground pressure with temperature compensation (fast!)
// baroGroundPressure is not supposed to be 0 here
// see: https://code.google.com/p/ardupilot-mega/source/browse/libraries/AP_Baro/AP_Baro.cpp
BaroAlt_tmp = logf(baroGroundPressure * (cfg.baro_tab_size - 1) / (float)baroPressureSum) * (baroTemperature + 27315) * 29.271267f; // in cemtimeter
BaroAlt_tmp = logf(baroGroundPressure * (cfg.baro_tab_size - 1) / (float)baroPressureSum) * (baroTemperature + 27315) * 29.271267f; // in cemtimeter
BaroAlt = BaroAlt * cfg.baro_noise_lpf + BaroAlt_tmp * (1.0f - cfg.baro_noise_lpf); // additional LPF to reduce baro noise
// Integrator - velocity, cm/sec
vel += (float)accSum[2] * accVelScale * (float)accTimeSum / (float)accSumCount;
@ -420,14 +420,14 @@ int getEstimatedAltitude(void)
errorAltitudeI = constrain(errorAltitudeI, -30000, 30000);
BaroPID += errorAltitudeI / 512; // I in range +/-60
baroVel = (BaroAlt - lastBaroAlt) * 1000000.0f / dTime;
lastBaroAlt = BaroAlt;
baroVel = constrain(baroVel, -300, 300); // constrain baro velocity +/- 300cm/s
baroVel = applyDeadband(baroVel, 10); // to reduce noise near zero
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * cfg.baro_cf_vel + baroVel * (1 - cfg.baro_cf_vel);