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Added beeps to indicate the reason for arming being disabled.

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This commit is contained in:
mikeller 2017-07-02 17:13:12 +12:00
parent 31c639b13f
commit 67acc6c7ec
12 changed files with 109 additions and 61 deletions
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21
src/main/sensors/gyro.c
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@ -77,6 +77,8 @@ typedef struct gyroCalibration_s {
uint16_t calibratingG;
} gyroCalibration_t;
bool firstArmingCalibrationWasStarted = false;
typedef union gyroSoftFilter_u {
biquadFilter_t gyroFilterLpfState[XYZ_AXIS_COUNT];
pt1Filter_t gyroFilterPt1State[XYZ_AXIS_COUNT];
@ -489,9 +491,20 @@ static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
gyroSensor->calibration.calibratingG = gyroCalculateCalibratingCycles();
}
void gyroStartCalibration(void)
void gyroStartCalibration(bool isFirstArmingCalibration)
{
gyroSetCalibrationCycles(&gyroSensor0);
if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
gyroSetCalibrationCycles(&gyroSensor0);
if (isFirstArmingCalibration) {
firstArmingCalibrationWasStarted = true;
}
}
}
bool isFirstArmingGyroCalibrationRunning(void)
{
return firstArmingCalibrationWasStarted && !isGyroCalibrationComplete();
}
STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t gyroMovementCalibrationThreshold)
@ -525,7 +538,9 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
beeper(BEEPER_GYRO_CALIBRATED);
if (!firstArmingCalibrationWasStarted || !isArmingDisabled()) {
beeper(BEEPER_GYRO_CALIBRATED);
}
}
--gyroSensor->calibration.calibratingG;