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synced code with multiwii 2.0 release

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split uart2 initialization inside drv_uart. added receive data callback to use either with GPS or spektrum satellite
added spektrum satellite support, also freeing up 4 motor outputs for hexa/octo/camstab
configurable acc lpf and gyro lpf via cli
configurable (build-time) temperature lpf on baro. seems mostly useless.
fixed a nice boner bug in mag code which ended up multiplying magADC twice with magCal data.
fixed mpu3050 driver to allow configurable lpf, also broke other stuff in the process. considering moving this sort of stuff to "init" struct for sensor.
pwm driver rewritten to fully disable pwm/ppm inputs (such as using spektrum satellite case)
cleaned up double math in gps.c to use sinf/cosf etc
removed TRUSTED_ACCZ since its useless anyway
whitespace cleanup

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@130 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-26 15:28:36 +00:00
parent fd9d986169
commit 96829b7306
23 changed files with 2884 additions and 2931 deletions
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11
src/mw.h
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@ -60,7 +60,7 @@
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
#define VERSION 203
#define VERSION 20
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
@ -142,6 +142,10 @@ typedef struct config_t {
int16_t accZero[3];
int16_t magZero[3];
int16_t accTrim[2];
// sensor-related stuff
uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
uint16_t gyro_lpf; // mpuX050 LPF setting
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
uint8_t activate1[CHECKBOXITEMS];
@ -154,6 +158,7 @@ typedef struct config_t {
// Radio/ESC-related configuration
uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
uint8_t deadband; // introduce a deadband around the stick center. Must be greater than zero
uint8_t spektrum_hires; // spektrum high-resolution y/n (1024/2048bit)
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
@ -278,6 +283,10 @@ void featureClear(uint32_t mask);
void featureClearAll(void);
uint32_t featureMask(void);
// spektrum
void spektrumInit(void);
bool spektrumFrameComplete(void);
// cli
void cliProcess(void);