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Preparation for conversion to parameter groups 6

This commit is contained in:
Martin Budden 2017-02-14 21:19:20 +00:00
parent cb2356ba76
commit 4c435fccae
23 changed files with 93 additions and 88 deletions

View file

@ -70,7 +70,6 @@ static float smallAngleCosZ = 0;
static float magneticDeclination = 0.0f; // calculated at startup from config
static imuRuntimeConfig_t imuRuntimeConfig;
static pidProfile_t *pidProfile;
STATIC_UNIT_TESTED float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to earth frame
static float rMat[3][3];
@ -116,18 +115,13 @@ static float calculateThrottleAngleScale(uint16_t throttle_correction_angle)
return (1800.0f / M_PIf) * (900.0f / throttle_correction_angle);
}
void imuConfigure(
imuConfig_t *imuConfig,
pidProfile_t *initialPidProfile,
uint16_t throttle_correction_angle
)
void imuConfigure(uint16_t throttle_correction_angle)
{
imuRuntimeConfig.dcm_kp = imuConfig->dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = imuConfig->dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = imuConfig->acc_unarmedcal;
imuRuntimeConfig.small_angle = imuConfig->small_angle;
imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = imuConfig()->acc_unarmedcal;
imuRuntimeConfig.small_angle = imuConfig()->small_angle;
pidProfile = initialPidProfile;
fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value
throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
}