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Code Issues Wiki Activity

Selectable BARO (set baro_hardware)

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Disabling baro will boost performance on FULL boards
This commit is contained in:
borisbstyle 2015-08-15 23:00:15 +02:00
parent f2c6822c81
commit 5390cdc804
7 changed files with 14 additions and 9 deletions
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3
src/main/config/config.c
View file

@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 104;
static const uint8_t EEPROM_CONF_VERSION = 105;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -392,6 +392,7 @@ static void resetConf(void)
masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
masterConfig.mag_hardware = MAG_DEFAULT; // default/autodetect
masterConfig.baro_hardware = BARO_DEFAULT; // default/autodetect
resetBatteryConfig(&masterConfig.batteryConfig);

1
src/main/config/config_master.h
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@ -55,6 +55,7 @@ typedef struct master_t {
gyroConfig_t gyroConfig;
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
uint8_t baro_hardware; // Barometer hardware to use
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
flightDynamicsTrims_t accZero;

1
src/main/io/serial_cli.c
View file

@ -464,6 +464,7 @@ const clivalue_t valueTable[] = {
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, 0, BARO_MAX },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },

2
src/main/main.c
View file

@ -371,7 +371,7 @@ void init(void)
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination, masterConfig.looptime, masterConfig.syncGyroToLoop)) {
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination, masterConfig.looptime, masterConfig.syncGyroToLoop)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(3);
}

6
src/main/sensors/barometer.h
View file

@ -18,13 +18,15 @@
#pragma once
typedef enum {
BARO_NONE = 0,
BARO_DEFAULT = 1,
BARO_DEFAULT = 0,
BARO_NONE = 1,
BARO_BMP085 = 2,
BARO_MS5611 = 3,
BARO_BMP280 = 4
} baroSensor_e;
#define BARO_MAX BARO_BMP280
#define BARO_SAMPLE_COUNT_MAX 48
typedef struct barometerConfig_s {

8
src/main/sensors/initialisation.c
View file

@ -410,12 +410,12 @@ retry:
sensorsSet(SENSOR_ACC);
}
static void detectBaro()
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifdef BARO
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = BARO_DEFAULT;
baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085
@ -597,7 +597,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop)
{
int16_t deg, min;
@ -608,7 +608,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
return false;
}
detectAcc(accHardwareToUse);
detectBaro();
detectBaro(baroHardwareToUse);
// Now time to init things, acc first

2
src/main/sensors/initialisation.h
View file

@ -17,4 +17,4 @@
#pragma once
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop);