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Code Issues Wiki Activity

Moved masterConfig imu items into a struct

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This commit is contained in:
Martin Budden 2016-11-29 22:28:11 +00:00
parent c0761eb619
commit 6ff265ec62
6 changed files with 41 additions and 42 deletions
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14
src/main/flight/imu.h
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@ -56,11 +56,20 @@ typedef struct throttleCorrectionConfig_s {
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
} throttleCorrectionConfig_t;
typedef struct imuConfig_s {
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
uint16_t dcm_ki; // DCM filter integral gain ( x 10000)
uint8_t small_angle;
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
accDeadband_t accDeadband;
} imuConfig_t;
typedef struct imuRuntimeConfig_s {
uint8_t acc_unarmedcal;
float dcm_ki;
float dcm_kp;
uint8_t acc_unarmedcal;
uint8_t small_angle;
accDeadband_t accDeadband;
} imuRuntimeConfig_t;
typedef enum {
@ -81,9 +90,8 @@ typedef struct accProcessor_s {
struct pidProfile_s;
void imuConfigure(
imuRuntimeConfig_t *initialImuRuntimeConfig,
imuConfig_t *imuConfig,
struct pidProfile_s *initialPidProfile,
accDeadband_t *initialAccDeadband,
uint16_t throttle_correction_angle
);