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added inflight acc cal as a feature (NOT TESTED NOT GUARANTEED TO WORK ETC)

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changed gyro/acc to allow different drivers without recompile, this allowed adding mpu6050 support w/autodetect
moved sensor orientation code into driver - each driver provides its own
added support for mpu6050 - desolder mpu3050 and adxl345, replace with mpu6050 for instant ???
merged multiwii 2.0pre3 code changes (none that mattered except mag calibration and typo in baro stuff)
changes to sensor autodetect for new dynamic drivers
more of ledring stuff done (still doesn't work, so dont try)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@115 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-17 07:08:36 +00:00
parent 0f6a75af4a
commit 7592316c04
16 changed files with 2824 additions and 2698 deletions
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4
src/imu.c
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@ -336,8 +336,8 @@ void getEstimatedAltitude(void)
EstAlt = BaroHigh * 10 / (BARO_TAB_SIZE / 2);
temp32 = AltHold - EstAlt;
if (abs(temp32) < 10 && BaroPID < 10)
BaroPID = 0; // remove small D parametr to reduce noise near zoro position
if (abs(temp32) < 10 && abs(BaroPID) < 10)
BaroPID = 0; // remove small D parameter to reduce noise near zero position
// P
BaroPID += cfg.P8[PIDALT] * constrain(temp32, (-2) * cfg.P8[PIDALT], 2 * cfg.P8[PIDALT]) / 100;
BaroPID = constrain(BaroPID, -150, +150); // sum of P and D should be in range 150