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took out cycle counter stuff for timing, now using systick + counter strictly. ... seems improved loop precision a bit.

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put gyro interleave under define. this needs to be cleaned sometime.
took out "gyro glitch" stuff that was leftover from  nintendo days.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@162 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-06-07 15:29:37 +00:00
parent 19ca85963b
commit 572d5827cc
7 changed files with 2478 additions and 2794 deletions
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12
src/imu.c
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@ -32,6 +32,7 @@ void imuInit(void)
#endif
}
void computeIMU(void)
{
uint8_t axis;
@ -41,6 +42,8 @@ void computeIMU(void)
static uint32_t timeInterleave = 0;
static int16_t gyroYawSmooth = 0;
#define GYRO_INTERLEAVE
if (sensors(SENSOR_ACC)) {
ACC_getADC();
getEstimatedAttitude();
@ -49,9 +52,16 @@ void computeIMU(void)
Gyro_getADC();
for (axis = 0; axis < 3; axis++)
#ifdef GYRO_INTERLEAVE
gyroADCp[axis] = gyroADC[axis];
#else
gyroData[axis] = gyroADC[axis];
if (!sensors(SENSOR_ACC))
accADC[axis] = 0;
#endif
timeInterleave = micros();
annexCode();
#ifdef GYRO_INTERLEAVE
if ((micros() - timeInterleave) > 650) {
annex650_overrun_count++;
} else {
@ -59,7 +69,6 @@ void computeIMU(void)
}
Gyro_getADC();
for (axis = 0; axis < 3; axis++) {
gyroADCinter[axis] = gyroADC[axis] + gyroADCp[axis];
// empirical, we take a weighted value of the current and the previous values
@ -68,6 +77,7 @@ void computeIMU(void)
if (!sensors(SENSOR_ACC))
accADC[axis] = 0;
}
#endif
if (feature(FEATURE_GYRO_SMOOTHING)) {
static uint8_t Smoothing[3] = { 0, 0, 0 };