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Code Issues Wiki Activity

Fixed CONFIG_FASTLOOP_PREFERRED_ACC related magic numbers

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This commit is contained in:
Martin Budden 2016-06-11 07:17:11 +01:00
parent efda3d7b5b
commit 91e7c160a3
16 changed files with 37 additions and 39 deletions
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45
src/main/io/serial_msp.c
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@ -103,7 +103,6 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // FIXME dependency on mw.c
extern void resetPidProfile(pidProfile_t *pidProfile);
void setGyroSamplingSpeed(uint16_t looptime) {
uint16_t gyroSampleRate = 1000;
uint8_t maxDivider = 1;
@ -116,43 +115,44 @@ void setGyroSamplingSpeed(uint16_t looptime) {
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = MAG_DEFAULT;
if (looptime < 250) {
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.acc_hardware = ACC_NONE;
masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = MAG_NONE;
masterConfig.pid_process_denom = 2;
} else if (looptime < 375) {
masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = MAG_NONE;
masterConfig.pid_process_denom = 2;
}
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else {
masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = MAG_DEFAULT;
}
#else
if (looptime < 1000) {
masterConfig.gyro_lpf = 0;
masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1;
masterConfig.acc_hardware = ACC_NONE;
masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = MAG_NONE;
gyroSampleRate = 125;
maxDivider = 8;
masterConfig.pid_process_denom = 1;
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
masterConfig.pid_process_denom = 2;
}
if (looptime < 250) {
masterConfig.pid_process_denom = 4;
} else if (looptime < 375) {
if (currentProfile->pidProfile.pidController == 2) {
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
masterConfig.pid_process_denom = 3;
} else {
masterConfig.pid_process_denom = 2;
@ -161,11 +161,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else {
masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0;
masterConfig.baro_hardware = 0;
masterConfig.mag_hardware = 0;
masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = MAG_DEFAULT;
masterConfig.pid_process_denom = 1;
}
#endif