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fixed a fuckup with yaw_rate that was caused by more 8bit leftover garbage

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fixed althold vel/constrain typo thx Marcin
flight-tested this build on my shitcopter, CAREFUL flight testing may commence.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@428 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-04 01:51:31 +00:00
parent 891bce4e19
commit 800ce6bdf7
3 changed files with 3238 additions and 3181 deletions
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6395
obj/baseflight.hex
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File diff suppressed because it is too large Load diff

2
src/imu.c
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@ -388,7 +388,7 @@ int getEstimatedAltitude(void)
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity). // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay // By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * cfg.baro_cf_vel + baroVel * (1 - cfg.baro_cf_vel); vel = vel * cfg.baro_cf_vel + baroVel * (1 - cfg.baro_cf_vel);
constrain(vel, -1000, 1000); // limit max velocity to +/- 10m/s (36km/h) vel = constrain(vel, -1000, 1000); // limit max velocity to +/- 10m/s (36km/h)
// D // D
vel_tmp = vel; vel_tmp = vel;

22
src/mw.c
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@ -87,14 +87,17 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
void annexCode(void) void annexCode(void)
{ {
static uint32_t calibratedAccTime; static uint32_t calibratedAccTime;
uint16_t tmp, tmp2; int32_t tmp, tmp2;
static uint8_t buzzerFreq; //delay between buzzer ring int32_t axis, prop1, prop2;
static uint8_t buzzerFreq; // delay between buzzer ring
// vbat shit
static uint8_t vbatTimer = 0; static uint8_t vbatTimer = 0;
uint8_t axis, prop1, prop2;
static uint8_t ind = 0; static uint8_t ind = 0;
uint16_t vbatRaw = 0; uint16_t vbatRaw = 0;
static uint16_t vbatRawArray[8]; static uint16_t vbatRawArray[8];
uint8_t i;
int i;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value // PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < BREAKPOINT) { if (rcData[THROTTLE] < BREAKPOINT) {
@ -123,7 +126,6 @@ void annexCode(void)
prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500; prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t) prop1 *prop2 / 100; prop1 = (uint16_t) prop1 *prop2 / 100;
} else { // YAW } else { // YAW
tmp *= -mcfg.yaw_control_direction; //change control direction for yaw needed with new gyro orientation
if (cfg.yawdeadband) { if (cfg.yawdeadband) {
if (tmp > cfg.yawdeadband) { if (tmp > cfg.yawdeadband) {
tmp -= cfg.yawdeadband; tmp -= cfg.yawdeadband;
@ -131,12 +133,12 @@ void annexCode(void)
tmp = 0; tmp = 0;
} }
} }
rcCommand[axis] = tmp; rcCommand[axis] = tmp * -mcfg.yaw_control_direction;
prop1 = 100 - (uint16_t) cfg.yawRate * tmp / 500; prop1 = 100 - (uint16_t)cfg.yawRate * abs(tmp) / 500;
} }
dynP8[axis] = (uint16_t) cfg.P8[axis] * prop1 / 100; dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t) cfg.I8[axis] * prop1 / 100; dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t) cfg.D8[axis] * prop1 / 100; dynD8[axis] = (uint16_t)cfg.D8[axis] * prop1 / 100;
if (rcData[axis] < mcfg.midrc) if (rcData[axis] < mcfg.midrc)
rcCommand[axis] = -rcCommand[axis]; rcCommand[axis] = -rcCommand[axis];
} }