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Quaternion-based DCM IMU (original code my S.Madgwick)

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Restore binaries from merge
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-10-22 13:36:17 +10:00 • committed by borisbstyle
parent 846b86f489
commit 5df8ca926c
21 changed files with 379 additions and 738 deletions
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17
src/main/config/config.c
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@ -397,8 +397,8 @@ static void resetConf(void)
// global settings
masterConfig.current_profile_index = 0; // default profile
masterConfig.gyro_cmpf_factor = 600; // default MWC
masterConfig.gyro_cmpfm_factor = 250; // default MWC
masterConfig.dcm_kp = 10000; // 1.0 * 10000
masterConfig.dcm_ki = 30; // 0.003 * 10000
resetAccelerometerTrims(&masterConfig.accZero);
@ -484,15 +484,14 @@ static void resetConf(void)
resetRollAndPitchTrims(&currentProfile->accelerometerTrims);
currentProfile->mag_declination = 0;
currentProfile->acc_lpf_factor = 4;
currentProfile->acc_cut_hz = 15;
currentProfile->accz_lpf_cutoff = 5.0f;
currentProfile->accDeadband.xy = 40;
currentProfile->accDeadband.z = 40;
currentProfile->acc_unarmedcal = 1;
resetBarometerConfig(&currentProfile->barometerConfig);
currentProfile->acc_unarmedcal = 1;
// Radio
parseRcChannels("AETR1234", &masterConfig.rxConfig);
@ -719,10 +718,10 @@ void activateConfig(void)
&masterConfig.rxConfig
);
imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
imuRuntimeConfig.acc_lpf_factor = currentProfile->acc_lpf_factor;
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
imuRuntimeConfig.acc_cut_hz = currentProfile->acc_cut_hz;
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
imuConfigure(