Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 04:15:44 +03:00
Code Issues Wiki Activity

added FY90Q buyild target to Makefile

Browse source 
fixed mag calibration finally I think...
heading + mag declination calculation done using better precision.
increased gyro bias calculation to 1000.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@163 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-06-14 03:35:23 +00:00
parent 572d5827cc
commit 8fb580d3f5
8 changed files with 2558 additions and 2850 deletions
Download patch file Download diff file Expand all files Collapse all files

33
src/sensors.c
View file

@ -104,7 +104,7 @@ retry:
// calculate magnetic declination
deg = cfg.mag_declination / 100;
min = cfg.mag_declination % 100;
magneticDeclination = deg + ((float)min * (1.0f / 60.0f));
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
}
#endif
@ -278,15 +278,16 @@ static void GYRO_Common(void)
if (calibratingG > 0) {
for (axis = 0; axis < 3; axis++) {
// Reset g[axis] at start of calibration
if (calibratingG == 400)
if (calibratingG == 1000)
g[axis] = 0;
// Sum up 400 readings
// Sum up 1000 readings
g[axis] += gyroADC[axis];
// g[axis] += (1000 - calibratingG) >> 1;
// Clear global variables for next reading
gyroADC[axis] = 0;
gyroZero[axis] = 0;
if (calibratingG == 1) {
gyroZero[axis] = g[axis] / 400;
gyroZero[axis] = g[axis] / 1000;
blinkLED(10, 15, 1);
}
}
@ -320,9 +321,10 @@ static void Mag_getRawADC(void)
void Mag_init(void)
{
uint8_t calibration_gain = 0x60; // HMC5883
#if 1
uint8_t numAttempts = 0, good_count = 0;
bool success = false;
uint8_t calibration_gain = 0x60; // HMC5883
uint16_t expected_x = 766; // default values for HMC5883
uint16_t expected_yz = 713;
float gain_multiple = 660.0f / 1090.0f; // adjustment for runtime vs calibration gain
@ -368,13 +370,28 @@ void Mag_init(void)
magCal[2] = 1.0f;
}
#if 0
hmc5883lFinishCal();
#else
// initial calibration
hmc5883lInit();
magCal[0] = 0;
magCal[1] = 0;
magCal[2] = 0;
// enter calibration mode
hmc5883lCal(calibration_gain);
delay(100);
Mag_getRawADC();
delay(10);
magCal[ROLL] = 1160.0f / abs(magADC[ROLL]);
magCal[PITCH] = 1160.0f / abs(magADC[PITCH]);
magCal[YAW] = 1080.0f / abs(magADC[YAW]);
#endif
hmc5883lFinishCal();
#endif
magInit = 1;
}
@ -424,7 +441,7 @@ void Mag_getADC(void)
} else {
tCal = 0;
for (axis = 0; axis < 3; axis++)
cfg.magZero[axis] = ((magZeroTempMax[axis] - magZeroTempMin[axis]) / 2 - magZeroTempMax[axis]); // Calculate offsets
cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2; // Calculate offsets
writeParams(1);
}
}