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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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39
src/main/flight/imu.h
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@ -18,26 +18,27 @@
#pragma once
extern int16_t throttleAngleCorrection;
extern uint32_t accTimeSum; // altitudehold.c
extern int accSumCount; // altitudehold.c
extern float accVelScale; // altitudehold.c
extern t_fp_vector EstG; // display.c
extern int16_t accSmooth[XYZ_AXIS_COUNT]; // blackbox.c, display.c, serial_msp.c, frsky.c, smartport.c
extern int32_t accSum[XYZ_AXIS_COUNT]; // altitudehold.c
extern int16_t smallAngle; // display.c
extern uint32_t accTimeSum;
extern int accSumCount;
extern float accVelScale;
extern int16_t accSmooth[XYZ_AXIS_COUNT];
extern int32_t accSum[XYZ_AXIS_COUNT];
typedef struct rollAndPitchInclination_s {
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
int16_t rollDeciDegrees;
int16_t pitchDeciDegrees;
} rollAndPitchInclination_t_def;
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
#define DECIDEGREES_TO_DEGREES(angle) (angle / 10)
#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
typedef union {
int16_t raw[ANGLE_INDEX_COUNT];
rollAndPitchInclination_t_def values;
} rollAndPitchInclination_t;
int16_t raw[XYZ_AXIS_COUNT];
struct {
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
int16_t roll;
int16_t pitch;
int16_t yaw;
} values;
} attitudeEulerAngles_t;
extern rollAndPitchInclination_t inclination;
extern attitudeEulerAngles_t attitude;
typedef struct accDeadband_s {
uint8_t xy; // set the acc deadband for xy-Axis
@ -45,10 +46,10 @@ typedef struct accDeadband_s {
} accDeadband_t;
typedef struct imuRuntimeConfig_s {
uint8_t acc_lpf_factor;
uint8_t acc_cut_hz;
uint8_t acc_unarmedcal;
float gyro_cmpf_factor;
float gyro_cmpfm_factor;
float dcm_ki;
float dcm_kp;
uint8_t small_angle;
} imuRuntimeConfig_t;