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Quaternion-based DCM IMU (original code my S.Madgwick)
Restore binaries from merge
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21 changed files with 379 additions and 738 deletions
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@ -684,8 +684,8 @@ STATIC_UNIT_TESTED void servoMixer(void)
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}
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}
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input[INPUT_GIMBAL_PITCH] = scaleRange(inclination.values.pitchDeciDegrees, -1800, 1800, -500, +500);
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input[INPUT_GIMBAL_ROLL] = scaleRange(inclination.values.rollDeciDegrees, -1800, 1800, -500, +500);
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input[INPUT_GIMBAL_PITCH] = scaleRange(attitude.values.pitch, -1800, 1800, -500, +500);
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input[INPUT_GIMBAL_ROLL] = scaleRange(attitude.values.roll, -1800, 1800, -500, +500);
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input[INPUT_STABILIZED_THROTTLE] = motor[0] - 1000 - 500; // Since it derives from rcCommand or mincommand and must be [-500:+500]
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@ -841,8 +841,8 @@ void mixTable(void)
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/*
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case MIXER_GIMBAL:
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servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
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servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
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servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
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servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
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break;
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*/
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@ -858,11 +858,11 @@ void mixTable(void)
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if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
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if (gimbalConfig->mode == GIMBAL_MODE_MIXTILT) {
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servo[SERVO_GIMBAL_PITCH] -= (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * inclination.values.pitchDeciDegrees / 50 - (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * inclination.values.rollDeciDegrees / 50;
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servo[SERVO_GIMBAL_ROLL] += (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * inclination.values.pitchDeciDegrees / 50 + (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * inclination.values.rollDeciDegrees / 50;
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servo[SERVO_GIMBAL_PITCH] -= (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * attitude.values.pitch / 50 - (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
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servo[SERVO_GIMBAL_ROLL] += (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * attitude.values.pitch / 50 + (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
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} else {
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servo[SERVO_GIMBAL_PITCH] += (int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * inclination.values.pitchDeciDegrees / 50;
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servo[SERVO_GIMBAL_ROLL] += (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * inclination.values.rollDeciDegrees / 50;
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servo[SERVO_GIMBAL_PITCH] += (int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch / 50;
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servo[SERVO_GIMBAL_ROLL] += (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
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}
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}
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}
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