From 609df47cd4bf0361d32e37cd19e84692078f05cb Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Fri, 1 Nov 2013 00:47:05 +0000 Subject: [PATCH] tri gyro data reading fix - closes issue #18 git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@464 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 6487 ++++++++++++++++++++++---------------------- src/imu.c | 6 +- 2 files changed, 3304 insertions(+), 3189 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 9223a1b612..953d0d2490 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:100000006029002035A4000875A4000823250008F5 -:1000100079A400087BA400087DA40008000000006B -:100020000000000000000000000000007FA40008A5 -:1000300081A400080000000083A40008957C00084B -:1000400087A4000887A4000887A4000887A40008E4 -:1000500087A4000887A4000887A40008DF87000899 -:1000600087A4000887A4000887A4000887A40008C4 -:1000700087A4000887A400085582000887A4000808 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+:10DA400008320B1A4E0C2908320C1AC00C29083265 +:10DA50000D1AA50C2908320E1ADA0C2908320F1AF1 +:10DA6000CA0C290832101AB70C290832111A470CAF +:10DA7000290832121AAD0C290832131AD20C2908BF +:10DA8000721402A7FF021001E20452038B803F04CC +:10DA900001165A03494AD931E91D12010A1C0285AF +:10DAA000C208342C01401A408C1A40193A405B14C9 +:10DAB000A24A048B127A33380B02030406070809C2 +:0CDAC0000204063B2910691481000000DC :04000005080000ED02 :00000001FF diff --git a/src/imu.c b/src/imu.c index b70bbd1605..d4a7380065 100755 --- a/src/imu.c +++ b/src/imu.c @@ -67,12 +67,14 @@ void computeIMU(void) Smoothing[YAW] = (mcfg.gyro_smoothing_factor) & 0xff; } for (axis = 0; axis < 3; axis++) { - gyroData[axis] = (int16_t)(((int32_t)((int32_t)gyroSmooth[axis] * (Smoothing[axis] - 1)) + gyroData[axis] + 1) / Smoothing[axis]); + gyroData[axis] = (int16_t)(((int32_t)((int32_t)gyroSmooth[axis] * (Smoothing[axis] - 1)) + gyroADC[axis] + 1) / Smoothing[axis]); gyroSmooth[axis] = gyroData[axis]; } } else if (mcfg.mixerConfiguration == MULTITYPE_TRI) { - gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW]) / 3; + gyroData[YAW] = (gyroYawSmooth * 2 + gyroADC[YAW]) / 3; gyroYawSmooth = gyroData[YAW]; + gyroData[ROLL] = gyroADC[ROLL]; + gyroData[PITCH] = gyroADC[PITCH]; } else { for (axis = 0; axis < 3; axis++) gyroData[axis] = gyroADC[axis];