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disconnected magcal from core and put it all into hmc5883 driver. no need to keep track of it if driver does init by itself as well.

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moved annexcode into mw.c instead of imu.c
hopefully didn't break anything.
NOT FLIGHT TESTED.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@405 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-19 15:07:48 +00:00
parent ac3cee7788
commit 8a5157db46
5 changed files with 25 additions and 37 deletions
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4
src/mw.c
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@ -84,7 +84,6 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
#define BREAKPOINT 1500
// this code is executed at each loop and won't interfere with control loop if it lasts less than 650 microseconds
void annexCode(void)
{
static uint32_t calibratedAccTime;
@ -147,7 +146,7 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if(f.HEADFREE_MODE) {
if (f.HEADFREE_MODE) {
float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
float cosDiff = cosf(radDiff);
float sinDiff = sinf(radDiff);
@ -777,6 +776,7 @@ void loop(void)
loopTime = currentTime + mcfg.looptime;
computeIMU();
annexCode();
// Measure loop rate just afer reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);