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Relocate some structures and code to the right places.

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This cleans up the include file order somewhat and fixes a couple of
dependencies.

The goal of this is to rename flight.c/flight.h to pid.c/pid.h.
This commit is contained in:
Dominic Clifton 2015-01-31 23:47:51 +01:00
parent a9b2c39872
commit 53406a7ac7
20 changed files with 198 additions and 145 deletions
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40
src/main/sensors/acceleration.c
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@ -25,8 +25,6 @@
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "flight/flight.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "io/beeper.h"
@ -36,6 +34,8 @@
#include "sensors/acceleration.h"
int16_t accADC[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
uint8_t accHardware = ACC_DEFAULT; // which accel chip is used/detected
sensor_align_e accAlign = 0;
@ -71,6 +71,12 @@ bool isOnFirstAccelerationCalibrationCycle(void)
return calibratingA == CALIBRATING_ACC_CYCLES;
}
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
{
rollAndPitchTrims->values.roll = 0;
rollAndPitchTrims->values.pitch = 0;
}
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{
static int32_t a[3];
@ -92,9 +98,9 @@ void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
if (isOnFinalAccelerationCalibrationCycle()) {
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
accelerationTrims->raw[FD_ROLL] = (a[FD_ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
accelerationTrims->raw[FD_PITCH] = (a[FD_PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
accelerationTrims->raw[FD_YAW] = (a[FD_YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
accelerationTrims->raw[X] = (a[X] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
accelerationTrims->raw[Y] = (a[Y] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
accelerationTrims->raw[Z] = (a[Z] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
resetRollAndPitchTrims(rollAndPitchTrims);
@ -113,9 +119,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
// Saving old zeropoints before measurement
if (InflightcalibratingA == 50) {
accZero_saved[FD_ROLL] = accelerationTrims->raw[FD_ROLL];
accZero_saved[FD_PITCH] = accelerationTrims->raw[FD_PITCH];
accZero_saved[FD_YAW] = accelerationTrims->raw[FD_YAW];
accZero_saved[X] = accelerationTrims->raw[X];
accZero_saved[Y] = accelerationTrims->raw[Y];
accZero_saved[Z] = accelerationTrims->raw[Z];
angleTrim_saved.values.roll = rollAndPitchTrims->values.roll;
angleTrim_saved.values.pitch = rollAndPitchTrims->values.pitch;
}
@ -136,9 +142,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
AccInflightCalibrationMeasurementDone = true;
queueConfirmationBeep(5); // beeper to indicating the end of calibration
// recover saved values to maintain current flight behaviour until new values are transferred
accelerationTrims->raw[FD_ROLL] = accZero_saved[FD_ROLL];
accelerationTrims->raw[FD_PITCH] = accZero_saved[FD_PITCH];
accelerationTrims->raw[FD_YAW] = accZero_saved[FD_YAW];
accelerationTrims->raw[X] = accZero_saved[X];
accelerationTrims->raw[Y] = accZero_saved[Y];
accelerationTrims->raw[Z] = accZero_saved[Z];
rollAndPitchTrims->values.roll = angleTrim_saved.values.roll;
rollAndPitchTrims->values.pitch = angleTrim_saved.values.pitch;
}
@ -147,9 +153,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm) { // the aircraft is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = false;
accelerationTrims->raw[FD_ROLL] = b[FD_ROLL] / 50;
accelerationTrims->raw[FD_PITCH] = b[FD_PITCH] / 50;
accelerationTrims->raw[FD_YAW] = b[FD_YAW] / 50 - acc_1G; // for nunchuck 200=1G
accelerationTrims->raw[X] = b[X] / 50;
accelerationTrims->raw[Y] = b[Y] / 50;
accelerationTrims->raw[Z] = b[Z] / 50 - acc_1G; // for nunchuck 200=1G
resetRollAndPitchTrims(rollAndPitchTrims);
@ -159,9 +165,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
{
accADC[FD_ROLL] -= accelerationTrims->raw[FD_ROLL];
accADC[FD_PITCH] -= accelerationTrims->raw[FD_PITCH];
accADC[FD_YAW] -= accelerationTrims->raw[FD_YAW];
accADC[X] -= accelerationTrims->raw[X];
accADC[Y] -= accelerationTrims->raw[Y];
accADC[Z] -= accelerationTrims->raw[Z];
}
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)