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part 3 of the great sensor axis unfucking. careful flight testing may commence.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@400 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-15 01:56:23 +00:00
parent 05ced4c784
commit 71772f137b
5 changed files with 9 additions and 5 deletions
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1
src/cli.c
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@ -124,6 +124,7 @@ const clivalue_t valueTable[] = {
{ "align_gyro", VAR_UINT8, &mcfg.gyro_align, 0, 8 },
{ "align_acc", VAR_UINT8, &mcfg.acc_align, 0, 8 },
{ "align_mag", VAR_UINT8, &mcfg.mag_align, 0, 8 },
{ "yaw_control_direction", VAR_INT8, &mcfg.yaw_control_direction, -1, 1 },
{ "acc_hardware", VAR_UINT8, &mcfg.acc_hardware, 0, 4 },
{ "moron_threshold", VAR_UINT8, &mcfg.moron_threshold, 0, 128 },
{ "gyro_lpf", VAR_UINT16, &mcfg.gyro_lpf, 0, 256 },

3
src/config.c
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@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
static const uint8_t EEPROM_CONF_VERSION = 50;
static const uint8_t EEPROM_CONF_VERSION = 51;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@ -181,6 +181,7 @@ static void resetConf(void)
mcfg.acc_align = ALIGN_DEFAULT;
mcfg.mag_align = ALIGN_DEFAULT;
mcfg.acc_hardware = ACC_DEFAULT; // default/autodetect
mcfg.yaw_control_direction = 1;
mcfg.moron_threshold = 32;
mcfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
mcfg.vbatscale = 110;

8
src/mixer.c
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@ -321,17 +321,17 @@ void mixTable(void)
// motors for non-servo mixes
if (numberMotor > 1)
for (i = 0; i < numberMotor; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
// airplane / servo mixes
switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI:
servo[4] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
servo[4] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
break;
case MULTITYPE_TRI:
servo[5] = constrain(cfg.tri_yaw_middle + cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
servo[5] = constrain(cfg.tri_yaw_middle + -cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
break;
case MULTITYPE_GIMBAL:

1
src/mw.c
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@ -125,6 +125,7 @@ void annexCode(void)
prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t) prop1 *prop2 / 100;
} else { // YAW
tmp *= -mcfg.yaw_control_direction; //change control direction for yaw needed with new gyro orientation
if (cfg.yawdeadband) {
if (tmp > cfg.yawdeadband) {
tmp -= cfg.yawdeadband;

1
src/mw.h
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@ -254,6 +254,7 @@ typedef struct master_t {
sensor_align_e gyro_align; // gyro alignment
sensor_align_e acc_align; // acc alignment
sensor_align_e mag_align; // mag alignment
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.