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Make gyro calibration period user configurable and rename moron_threshold

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Gryo calibration period can be configured in 1/100 second intervals using `gyro_calib_duration` (default is 125 or 1.25 seconds).

Renamed the `moron_threshold` parameter to `gyro_calib_noise_limit`. Functionally it is unchanged.
This commit is contained in:
Bruce Luckcuck 2018-05-21 07:35:31 -04:00
parent 346201d8ac
commit 8f6f4bf4c4
4 changed files with 6 additions and 3 deletions
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3
src/main/interface/settings.c
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@ -447,7 +447,8 @@ const clivalue_t valueTable[] = {
{ "gyro_lma_depth", VAR_UINT8 | MASTER_VALUE, .config.minmax = {0, 11}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lma_depth)},
{ "gyro_lma_weight", VAR_UINT8 | MASTER_VALUE, .config.minmax = {0, 100}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lma_weight)},
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_calib_duration", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 3000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroCalibrationDuration) },
{ "gyro_calib_noise_limit", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_offset_yaw", VAR_INT16 | MASTER_VALUE, .config.minmax = { -1000, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_offset_yaw) },
#ifdef USE_GYRO_OVERFLOW_CHECK
{ "gyro_overflow_detect", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_OVERFLOW_CHECK }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, checkOverflow) },

3
src/main/sensors/gyro.c
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@ -187,6 +187,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 2);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_align = ALIGN_DEFAULT,
.gyroCalibrationDuration = 125, // 1.25 seconds
.gyroMovementCalibrationThreshold = 48,
.gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
.gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL,
@ -877,7 +878,7 @@ static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static int32_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_TIME_US / gyro.targetLooptime);
return (gyroConfig()->gyroCalibrationDuration * 10000) / gyro.targetLooptime;
}
static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)

2
src/main/sensors/gyro.h
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@ -105,6 +105,8 @@ typedef struct gyroConfig_s {
bool yaw_spin_recovery;
int16_t yaw_spin_threshold;
uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);

1
src/main/sensors/sensors.h
View file

@ -43,7 +43,6 @@ typedef union flightDynamicsTrims_u {
flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t;
#define CALIBRATING_GYRO_TIME_US 3000000
#define CALIBRATING_ACC_CYCLES 400
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles