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Changed gyro init and read functions to take a gyro_t* parameter.

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Scaled gyro values to degrees per second in gyroUpdate.
This commit is contained in:
Martin Budden 2016-11-19 14:11:03 +00:00
parent 55b32740d9
commit 590e569375
28 changed files with 136 additions and 124 deletions
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5
src/main/flight/imu.c
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@ -75,8 +75,6 @@ static float rMat[3][3];
attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
static float gyroScale;
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
{
float q1q1 = sq(q1);
@ -122,7 +120,6 @@ void imuConfigure(
void imuInit(void)
{
smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig.small_angle));
gyroScale = gyro.scale * (M_PIf / 180.0f); // gyro output scaled to rad per second
accVelScale = 9.80665f / acc.acc_1G / 10000.0f;
imuComputeRotationMatrix();
@ -399,7 +396,7 @@ static void imuCalculateEstimatedAttitude(uint32_t currentTime)
#endif
imuMahonyAHRSupdate(deltaT * 1e-6f,
gyroADC[X] * gyroScale, gyroADC[Y] * gyroScale, gyroADC[Z] * gyroScale,
DEGREES_TO_RADIANS(gyroADCf[X]), DEGREES_TO_RADIANS(gyroADCf[Y]), DEGREES_TO_RADIANS(gyroADCf[Z]),
useAcc, accSmooth[X], accSmooth[Y], accSmooth[Z],
useMag, magADC[X], magADC[Y], magADC[Z],
useYaw, rawYawError);