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Add Blackbox 0.1.0

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This commit is contained in:
Nicholas Sherlock 2014-12-08 22:06:57 +13:00
parent 5794105dff
commit 8c41772584
20 changed files with 6797 additions and 14604 deletions
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17
src/main/flight/flight.c
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@ -42,6 +42,11 @@ extern uint16_t cycleTime;
int16_t heading, magHold;
int16_t axisPID[3];
#ifdef BLACKBOX
int32_t axisP[3], axisI[3], axisD[3];
#endif
uint8_t dynP8[3], dynI8[3], dynD8[3];
static int32_t errorGyroI[3] = { 0, 0, 0 };
@ -243,6 +248,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
delta1[axis] = delta;
DTerm = (deltaSum * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
axisP[axis] = PTerm;
axisI[axis] = ITerm;
axisD[axis] = -DTerm;
#endif
}
}
@ -326,6 +337,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef BLACKBOX
axisP[axis] = PTerm;
axisI[axis] = ITerm;
axisD[axis] = DTerm;
#endif
}
}