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merged multiwii GPS code from 1097. still no support for UBX, or GPS auto-config, soon.

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added interrupt pins from mag/mma/mpu for rev4 hardware. nothing done with them yet - candidates for EXTI use
added tx buffer to UART2 (gps) in preparation for auto-config


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@203 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-09-04 09:13:59 +00:00
parent 70db9006af
commit 80d7ba604b
12 changed files with 2769 additions and 2694 deletions
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25
src/mw.c
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@ -17,7 +17,7 @@ int16_t telemTemperature1; // gyro sensor temperature
int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0;
int16_t rcData[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; // interval [1000;2000]
int16_t rcData[8] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
@ -487,6 +487,10 @@ void loop(void)
} else {
f.PASSTHRU_MODE = 0;
}
if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING || cfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
}
} else { // not in rc loop
static int8_t taskOrder = 0; // never call all function in the same loop, to avoid high delay spikes
switch (taskOrder++ % 4) {
@ -531,11 +535,10 @@ void loop(void)
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
#ifdef MPU6050_DMP
mpu6050DmpLoop();
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {
@ -554,7 +557,7 @@ void loop(void)
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (f.BARO_MODE) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > 20) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
f.BARO_MODE = 0; // so that a new althold reference is defined
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
@ -564,7 +567,7 @@ void loop(void)
if (sensors(SENSOR_GPS)) {
// Check that we really need to navigate ?
if ((!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || (!f.GPS_FIX_HOME)) {
if ((!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || !f.GPS_FIX_HOME) {
// If not. Reset nav loops and all nav related parameters
GPS_reset_nav();
} else {
@ -572,7 +575,7 @@ void loop(void)
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (cfg.nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]),-cfg.nav_slew_rate, cfg.nav_slew_rate);
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {
@ -592,13 +595,13 @@ void loop(void)
PTerm = (int32_t) errorAngle *cfg.P8[PIDLEVEL] / 100; //32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
#endif
PTerm = constrain(PTerm, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp // 16 bits is ok here
ITerm = ((int32_t) errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12; // 32 bits is needed for calculation:10000*I8 could exceed 32768 16 bits is ok for result
} else { // ACRO MODE or YAW axis
error = (int32_t) rcCommand[axis] * 10 * 8 / cfg.P8[axis]; //32 bits is needed for calculation: 500*5*10*8 = 200000 16 bits is ok for result if P8>2 (P>0.2)
error -= gyroData[axis];
PTerm = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp // 16 bits is ok here
@ -607,18 +610,18 @@ void loop(void)
ITerm = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6; // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
}
PTerm -= (int32_t) gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
delta = gyroData[axis] - lastGyro[axis]; //16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = gyroData[axis];
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = ((int32_t) deltaSum * dynD8[axis]) >> 5; //32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm;
}
mixTable();
writeServos();
writeMotors();