mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 17:25:20 +03:00
added inflight acc cal as a feature (NOT TESTED NOT GUARANTEED TO WORK ETC)
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
parent
0f6a75af4a
commit
7592316c04
16 changed files with 2824 additions and 2698 deletions
95
src/mw.c
95
src/mw.c
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@ -1,7 +1,7 @@
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#include "board.h"
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#include "mw.h"
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// March 2012 V2.0_pre_version_1
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// March 2012 V2.0_pre_version_3
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#define CHECKBOXITEMS 11
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#define PIDITEMS 8
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@ -56,6 +56,7 @@ uint16_t GPS_distanceToHome; // in meters
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int16_t GPS_directionToHome = 0; // in degrees
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uint16_t GPS_distanceToHome, GPS_distanceToHold; // distance to home or hold point in meters
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int16_t GPS_directionToHome, GPS_directionToHold; // direction to home or hol point in degrees
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uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis
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uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update
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int16_t GPS_angle[2]; // it's the angles that must be applied for GPS correction
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@ -72,7 +73,7 @@ uint16_t AccInflightCalibrationActive = 0;
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// power meter
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// **********************
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#define PMOTOR_SUM 8 // index into pMeter[] for sum
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uint32_t pMeter[PMOTOR_SUM + 1]; //we use [0:7] for eight motors,one extra for sum
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uint32_t pMeter[PMOTOR_SUM + 1]; // we use [0:7] for eight motors,one extra for sum
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uint8_t pMeterV; // dummy to satisfy the paramStruct logic in ConfigurationLoop()
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uint32_t pAlarm; // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
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// uint8_t powerTrigger1 = 0;
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@ -94,8 +95,9 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
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}
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}
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// this code is executed at each loop and won't interfere with control loop if it lasts less than 650 microseconds
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void annexCode(void)
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{ //this code is excetuted at each loop and won't interfere with control loop if it lasts less than 650 microseconds
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{
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static uint32_t buzzerTime, calibratedAccTime;
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#if defined(LCD_TELEMETRY)
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static uint16_t telemetryTimer = 0, telemetryAutoTimer = 0, psensorTimer = 0;
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@ -173,19 +175,12 @@ void annexCode(void)
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}
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#endif
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#define ADC_REF_VOLTAGE 3.3f
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#define ADC_TO_VOLTAGE (ADC_REF_VOLTAGE / (1<<12)) // 12 bit ADC resolution
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#define ADC_VOLTS_PRECISION 12
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#define ADC_VOLTS_SLOPE ((10.0f + 1.0f) / 1.0f) // Rtop = 10K, Rbot = 1.0K
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#define ADC_TO_VOLTS ((ADC_TO_VOLTAGE / ((1<<(ADC_VOLTS_PRECISION))+1)) * ADC_VOLTS_SLOPE)
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if (feature(FEATURE_VBAT)) {
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if (!(++vbatTimer % VBATFREQ)) {
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// avgVolts = adcAvgVolts * ADC_TO_VOLTS;
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vbatRawArray[(ind++) % 8] = adcGetBattery();
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for (i = 0; i < 8; i++)
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vbatRaw += vbatRawArray[i];
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vbat = vbatRaw / (VBATSCALE / 2); // result is Vbatt in 0.1V steps
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vbat = (((vbatRaw / 8) * 3.3f) / 4095) * 110; // result is Vbatt in 0.1V steps
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}
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if (rcOptions[BOXBEEPERON]) { // unconditional beeper on via AUXn switch
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buzzerFreq = 7;
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@ -232,13 +227,13 @@ void annexCode(void)
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}
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}
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#if defined(LED_RING)
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static uint32_t LEDTime;
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if (currentTime > LEDTime) {
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LEDTime = currentTime + 50000;
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i2CLedRingState();
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if (feature(FEATURE_LED_RING)) {
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static uint32_t LEDTime;
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if (currentTime > LEDTime) {
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LEDTime = currentTime + 50000;
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ledringState();
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}
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}
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#endif
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if (currentTime > calibratedAccTime) {
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if (smallAngle25 == 0) {
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@ -369,16 +364,20 @@ void loop(void)
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calibratingG = 400;
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} else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
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if (rcDelayCommand == 20) {
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servo[0] = 1500; //we center the yaw gyro in conf mode
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writeServos();
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if (cfg.mixerConfiguration == MULTITYPE_TRI) {
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servo[5] = 1500; // we center the yaw servo in conf mode
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writeServos();
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} else if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING) {
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servo[0] = cfg.wing_left_mid;
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servo[1] = cfg.wing_right_mid;
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writeServos();
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}
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#if defined(LCD_CONF)
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configurationLoop(); //beginning LCD configuration
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#endif
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previousTime = micros();
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}
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}
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#if defined(InflightAccCalibration)
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else if (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK) {
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} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK)) {
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if (rcDelayCommand == 20) {
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if (AccInflightCalibrationMeasurementDone) { //trigger saving into eeprom after landing
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AccInflightCalibrationMeasurementDone = 0;
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@ -392,9 +391,7 @@ void loop(void)
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}
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}
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}
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}
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#endif
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else if ((cfg.activate1[BOXARM] > 0) || (cfg.activate2[BOXARM] > 0)) {
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} else if ((cfg.activate1[BOXARM] > 0) || (cfg.activate2[BOXARM] > 0)) {
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if (rcOptions[BOXARM] && okToArm) {
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armed = 1;
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headFreeModeHold = heading;
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@ -435,27 +432,23 @@ void loop(void)
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} else if (rcData[PITCH] > MAXCHECK) {
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cfg.accTrim[PITCH] += 2;
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writeParams();
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#if defined(LED_RING)
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blinkLedRing();
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#endif
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if (feature(FEATURE_LED_RING))
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ledringBlink();
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} else if (rcData[PITCH] < MINCHECK) {
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cfg.accTrim[PITCH] -= 2;
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writeParams();
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#if defined(LED_RING)
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blinkLedRing();
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#endif
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if (feature(FEATURE_LED_RING))
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ledringBlink();
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} else if (rcData[ROLL] > MAXCHECK) {
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cfg.accTrim[ROLL] += 2;
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writeParams();
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#if defined(LED_RING)
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blinkLedRing();
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#endif
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if (feature(FEATURE_LED_RING))
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ledringBlink();
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} else if (rcData[ROLL] < MINCHECK) {
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cfg.accTrim[ROLL] -= 2;
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writeParams();
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#if defined(LED_RING)
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blinkLedRing();
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#endif
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if (feature(FEATURE_LED_RING))
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ledringBlink();
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} else {
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rcDelayCommand = 0;
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}
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@ -467,22 +460,22 @@ void loop(void)
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cycleTimeMin = cycleTime; // remember lowscore
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#endif
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#if defined(InflightAccCalibration)
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if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
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InflightcalibratingA = 50;
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AccInflightCalibrationArmed = 0;
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}
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if (rcOptions[BOXPASSTHRU]) { //Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
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if (!AccInflightCalibrationArmed) {
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AccInflightCalibrationArmed = 1;
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if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
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if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
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InflightcalibratingA = 50;
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AccInflightCalibrationArmed = 0;
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}
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if (rcOptions[BOXPASSTHRU]) { //Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
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if (!AccInflightCalibrationArmed) {
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AccInflightCalibrationArmed = 1;
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InflightcalibratingA = 50;
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}
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} else if (AccInflightCalibrationMeasurementDone && armed == 0) {
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AccInflightCalibrationArmed = 0;
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AccInflightCalibrationMeasurementDone = 0;
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AccInflightCalibrationSavetoEEProm = 1;
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}
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} else if (AccInflightCalibrationMeasurementDone && armed == 0) {
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AccInflightCalibrationArmed = 0;
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AccInflightCalibrationMeasurementDone = 0;
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AccInflightCalibrationSavetoEEProm = 1;
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}
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#endif
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for(i = 0; i < CHECKBOXITEMS; i++) {
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rcOptions[i] = (((rcData[AUX1] < 1300) | (1300 < rcData[AUX1] && rcData[AUX1] < 1700) << 1 | (rcData[AUX1] > 1700) << 2 | (rcData[AUX2] < 1300) << 3 | (1300 < rcData[AUX2] && rcData[AUX2] < 1700) << 4 | (rcData[AUX2] > 1700) << 5) & cfg.activate1[i]) || (((rcData[AUX3] < 1300) | (1300 < rcData[AUX3] && rcData[AUX3] < 1700) << 1 | (rcData[AUX3] > 1700) << 2 | (rcData[AUX4] < 1300) << 3 | (1300 < rcData[AUX4] && rcData[AUX4] < 1700) << 4 | (rcData[AUX4] > 1700) << 5) & cfg.activate2[i]);
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@ -599,7 +592,7 @@ void loop(void)
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if (dif >= +180)
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dif -= 360;
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if (smallAngle25)
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rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30; //18 deg
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rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30; // 18 deg
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} else
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magHold = heading;
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}
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