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Convert gyroADC and accADC to int32_t

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borisbstyle 2016-02-14 20:17:11 +01:00
parent 468cebcec2
commit 881a448255
8 changed files with 30 additions and 22 deletions
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9
src/main/sensors/acceleration.c
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@ -35,11 +35,13 @@
#include "sensors/acceleration.h"
int16_t accADC[XYZ_AXIS_COUNT];
int32_t accADC[XYZ_AXIS_COUNT];
int16_t accADCRaw[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
sensor_align_e accAlign = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration.
int axis;
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
@ -80,7 +82,6 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{
static int32_t a[3];
uint8_t axis;
for (axis = 0; axis < 3; axis++) {
@ -172,10 +173,12 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
if (!acc.read(accADC)) {
if (!acc.read(accADCRaw)) {
return;
}
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) accADC[axis] = accADCRaw[axis];
alignSensors(accADC, accADC, accAlign);
if (!isAccelerationCalibrationComplete()) {