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Code Issues Wiki Activity

Moved targetLooptime into gyro_t, tidied gyro_sync and gyro

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This commit is contained in:
Martin Budden 2016-06-26 08:41:24 +01:00
parent 19b02db8dd
commit 4d238b27d5
24 changed files with 52 additions and 72 deletions
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20
src/main/sensors/gyro.c
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@ -28,7 +28,6 @@
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/gyro_sync.h"
#include "sensors/sensors.h"
#include "io/beeper.h"
#include "io/statusindicator.h"
@ -36,29 +35,30 @@
#include "sensors/gyro.h"
uint16_t calibratingG = 0;
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
int32_t gyroADC[XYZ_AXIS_COUNT];
float gyroADCf[XYZ_AXIS_COUNT];
int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static uint16_t calibratingG = 0;
static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[3];
static bool gyroFilterStateIsSet;
static float gyroLpfCutFreq;
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz)
{
gyroConfig = gyroConfigToUse;
gyroLpfCutFreq = gyro_lpf_hz;
}
void initGyroFilterCoefficients(void) {
void initGyroFilterCoefficients(void)
{
int axis;
if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime);
if (gyroLpfCutFreq && gyro.targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], gyro.targetLooptime);
gyroFilterStateIsSet = true;
}
}
@ -79,7 +79,7 @@ bool isOnFinalGyroCalibrationCycle(void)
}
uint16_t calculateCalibratingCycles(void) {
return (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
}
bool isOnFirstGyroCalibrationCycle(void)