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Move mw loop() code into separate methods. Cleanup related code.

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If a given feature or mode is off the next task is not processed in the
current loop but will be processed during the next loop iteration for
simplification, this allowed the cleanup of return values in other code.
This commit is contained in:
Dominic Clifton 2014-06-23 00:47:45 +01:00
parent 8d0509dbfb
commit 91bfdf05ca
7 changed files with 256 additions and 210 deletions
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20
src/main/flight/imu.c
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@ -362,8 +362,8 @@ int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
}
#ifdef BARO
#define UPDATE_INTERVAL 25000 // 40hz update rate (20hz LPF on acc)
// 40hz update rate (20hz LPF on acc)
#define BARO_UPDATE_FREQUENCY_40HZ (1000 * 25)
#define DEGREES_80_IN_DECIDEGREES 800
@ -405,10 +405,9 @@ int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)
return baroPID;
}
int getEstimatedAltitude(void)
void calculateEstimatedAltitude(uint32_t currentTime)
{
static uint32_t previousT;
uint32_t currentT = micros();
static uint32_t previousTime;
uint32_t dTime;
int32_t baroVel;
float dt;
@ -420,10 +419,11 @@ int getEstimatedAltitude(void)
static float accAlt = 0.0f;
static int32_t lastBaroAlt;
dTime = currentT - previousT;
if (dTime < UPDATE_INTERVAL)
return 0;
previousT = currentT;
dTime = currentTime - previousTime;
if (dTime < BARO_UPDATE_FREQUENCY_40HZ)
return;
previousTime = currentTime;
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
@ -469,7 +469,5 @@ int getEstimatedAltitude(void)
BaroPID = calculateBaroPid(vel_tmp, accZ_tmp, accZ_old);
accZ_old = accZ_tmp;
return 1;
}
#endif /* BARO */