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added mincheck, maxcheck, vbatscale to settings configurable via cli

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@120 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-18 06:06:45 +00:00
parent c1cb4287b7
commit 8bcbf5e41e
7 changed files with 2280 additions and 2768 deletions
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36
src/mw.c
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@ -149,7 +149,7 @@ void annexCode(void)
if (rcData[axis] < cfg.midrc)
rcCommand[axis] = -rcCommand[axis];
}
rcCommand[THROTTLE] = cfg.minthrottle + (int32_t) (cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - MINCHECK) / (2000 - MINCHECK);
rcCommand[THROTTLE] = cfg.minthrottle + (int32_t) (cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - cfg.mincheck) / (2000 - cfg.mincheck);
if (headFreeMode) {
float radDiff = (heading - headFreeModeHold) * 0.0174533f; // where PI/180 ~= 0.0174533
@ -180,7 +180,7 @@ void annexCode(void)
vbatRawArray[(ind++) % 8] = adcGetBattery();
for (i = 0; i < 8; i++)
vbatRaw += vbatRawArray[i];
vbat = (((vbatRaw / 8) * 3.3f) / 4095) * 110; // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
vbat = (((vbatRaw / 8) * 3.3f) / 4095) * cfg.vbatscale; // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
}
if (rcOptions[BOXBEEPERON]) { // unconditional beeper on via AUXn switch
buzzerFreq = 7;
@ -352,17 +352,17 @@ void loop(void)
failsafeCnt++;
#endif
// end of failsave routine - next change is made with RcOptions setting
if (rcData[THROTTLE] < MINCHECK) {
if (rcData[THROTTLE] < cfg.mincheck) {
errorGyroI[ROLL] = 0;
errorGyroI[PITCH] = 0;
errorGyroI[YAW] = 0;
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
rcDelayCommand++;
if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK && armed == 0) {
if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
if (rcDelayCommand == 20)
calibratingG = 400;
} else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
} else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] > cfg.maxcheck && armed == 0) {
if (rcDelayCommand == 20) {
if (cfg.mixerConfiguration == MULTITYPE_TRI) {
servo[5] = 1500; // we center the yaw servo in conf mode
@ -377,7 +377,7 @@ void loop(void)
#endif
previousTime = micros();
}
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK)) {
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
if (rcDelayCommand == 20) {
if (AccInflightCalibrationMeasurementDone) { //trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
@ -398,18 +398,18 @@ void loop(void)
} else if (armed)
armed = 0;
rcDelayCommand = 0;
} else if ((rcData[YAW] < MINCHECK || rcData[ROLL] < MINCHECK)
} else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck)
&& armed == 1) {
if (rcDelayCommand == 20)
armed = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
} else if ((rcData[YAW] > MAXCHECK || rcData[ROLL] > MAXCHECK)
&& rcData[PITCH] < MAXCHECK && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
} else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck)
&& rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
if (rcDelayCommand == 20) {
armed = 1;
headFreeModeHold = heading;
}
#ifdef LCD_TELEMETRY_AUTO
} else if (rcData[ROLL] < MINCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
} else if (rcData[ROLL] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && armed == 0) {
if (rcDelayCommand == 20) {
if (telemetry_auto) {
telemetry_auto = 0;
@ -420,31 +420,31 @@ void loop(void)
#endif
} else
rcDelayCommand = 0;
} else if (rcData[THROTTLE] > MAXCHECK && armed == 0) {
if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK) { //throttle=max, yaw=left, pitch=min
} else if (rcData[THROTTLE] > cfg.maxcheck && armed == 0) {
if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck) { //throttle=max, yaw=left, pitch=min
if (rcDelayCommand == 20)
calibratingA = 400;
rcDelayCommand++;
} else if (rcData[YAW] > MAXCHECK && rcData[PITCH] < MINCHECK) { //throttle=max, yaw=right, pitch=min
} else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] < cfg.mincheck) { //throttle=max, yaw=right, pitch=min
if (rcDelayCommand == 20)
calibratingM = 1; // MAG calibration request
rcDelayCommand++;
} else if (rcData[PITCH] > MAXCHECK) {
} else if (rcData[PITCH] > cfg.maxcheck) {
cfg.accTrim[PITCH] += 2;
writeParams();
if (feature(FEATURE_LED_RING))
ledringBlink();
} else if (rcData[PITCH] < MINCHECK) {
} else if (rcData[PITCH] < cfg.mincheck) {
cfg.accTrim[PITCH] -= 2;
writeParams();
if (feature(FEATURE_LED_RING))
ledringBlink();
} else if (rcData[ROLL] > MAXCHECK) {
} else if (rcData[ROLL] > cfg.maxcheck) {
cfg.accTrim[ROLL] += 2;
writeParams();
if (feature(FEATURE_LED_RING))
ledringBlink();
} else if (rcData[ROLL] < MINCHECK) {
} else if (rcData[ROLL] < cfg.mincheck) {
cfg.accTrim[ROLL] -= 2;
writeParams();
if (feature(FEATURE_LED_RING))
@ -461,7 +461,7 @@ void loop(void)
#endif
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
}