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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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30
src/sensors.c
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@ -45,6 +45,8 @@ void sensorsAutodetect(void)
}
// this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
gyro.init();
// todo: this is driver specific :(
mpu3050Config(cfg.gyro_lpf);
}
uint16_t batteryAdcToVoltage(uint16_t src)
@ -59,6 +61,7 @@ void batteryInit(void)
uint8_t i;
uint32_t voltage = 0;
// average up some voltage readings
for (i = 0; i < 32; i++) {
voltage += adcGetBattery();
delay(10);
@ -68,8 +71,8 @@ void batteryInit(void)
// autodetect cell count, going from 2S..6S
for (i = 2; i < 6; i++) {
if (voltage < i * cfg.vbatmaxcellvoltage)
break;
if (voltage < i * cfg.vbatmaxcellvoltage)
break;
}
batteryCellCount = i;
batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
@ -102,12 +105,12 @@ static void ACC_Common(void)
}
calibratingA--;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
static int32_t b[3];
static int16_t accZero_saved[3] = { 0, 0, 0 };
static int16_t accTrim_saved[2] = { 0, 0 };
//Saving old zeropoints before measurement
// Saving old zeropoints before measurement
if (InflightcalibratingA == 50) {
accZero_saved[ROLL] = cfg.accZero[ROLL];
accZero_saved[PITCH] = cfg.accZero[PITCH];
@ -127,7 +130,7 @@ static void ACC_Common(void)
accADC[axis] = 0;
cfg.accZero[axis] = 0;
}
//all values are measured
// all values are measured
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
@ -142,7 +145,7 @@ static void ACC_Common(void)
InflightcalibratingA--;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm == 1) { //the copter is landed, disarmed and the combo has been done again
if (AccInflightCalibrationSavetoEEProm == 1) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = 0;
cfg.accZero[ROLL] = b[ROLL] / 50;
cfg.accZero[PITCH] = b[PITCH] / 50;
@ -158,7 +161,6 @@ static void ACC_Common(void)
accADC[YAW] -= cfg.accZero[YAW];
}
void ACC_getADC(void)
{
acc.read(accADC);
@ -171,12 +173,11 @@ static uint32_t baroDeadline = 0;
static uint8_t baroState = 0;
static uint16_t baroUT = 0;
static uint32_t baroUP = 0;
static int16_t baroTemp = 0;
void Baro_update(void)
{
int32_t pressure;
if (currentTime < baroDeadline)
return;
@ -199,9 +200,8 @@ void Baro_update(void)
break;
case 3:
baroUP = bmp085_get_up();
baroTemp = bmp085_get_temperature(baroUT);
bmp085_get_temperature(baroUT);
pressure = bmp085_get_pressure(baroUP);
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 4433000.0f; // centimeter
baroState = 0;
baroDeadline += 5000;
@ -214,7 +214,7 @@ static void GYRO_Common(void)
static int16_t previousGyroADC[3] = { 0, 0, 0 };
static int32_t g[3];
uint8_t axis;
#if defined MMGYRO
// Moving Average Gyros by Magnetron1
//---------------------------------------------------
@ -242,7 +242,7 @@ static void GYRO_Common(void)
calibratingG--;
}
#ifdef MMGYRO
#ifdef MMGYRO
mediaMobileGyroIDX = ++mediaMobileGyroIDX % MMGYROVECTORLENGTH;
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
@ -329,9 +329,7 @@ void Mag_getADC(void)
}
calibratingM = 0;
}
magADC[ROLL] = magADC[ROLL] * magCal[ROLL];
magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
magADC[YAW] = magADC[YAW] * magCal[YAW];
if (magInit) { // we apply offset only once mag calibration is done
magADC[ROLL] -= cfg.magZero[ROLL];
magADC[PITCH] -= cfg.magZero[PITCH];