Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

trashed old eeprom config struct and retarded eeprom code. replaced with config_t stuff to allow more dynamic changes

Browse source 
implemented cli (press # in serial to enter it). no commands except exit/version yet.
added uartPrint
fixed bug in task switching with missing breaks - was failing baro and perhaps mag readings
dynamic yaw direction, camtilt feature, camtrig feature.

ported some of 2.0-pre1 features:
* gyro smoothing
* baro/althold cleanup


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@102 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-05 02:01:26 +00:00
parent 14e12ce0bf
commit 9b48d45bca
14 changed files with 680 additions and 536 deletions
Download patch file Download diff file Expand all files Collapse all files

62
sensors.c
View file

@ -6,7 +6,6 @@ uint16_t calibratingA = 0; // the calibration is done is the main loop. Ca
uint16_t calibratingG = 0;
uint8_t calibratingM = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration
int16_t accTrim[2] = { 0, 0 };
int16_t heading, magHold;
void sensorsAutodetect(void)
@ -33,15 +32,15 @@ static void ACC_Common(void)
a[axis] += accADC[axis];
// Clear global variables for next reading
accADC[axis] = 0;
accZero[axis] = 0;
cfg.accZero[axis] = 0;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (calibratingA == 1) {
accZero[ROLL] = a[ROLL] / 400;
accZero[PITCH] = a[PITCH] / 400;
accZero[YAW] = a[YAW] / 400 - acc_1G; // for nunchuk 200=1G
accTrim[ROLL] = 0;
accTrim[PITCH] = 0;
cfg.accZero[ROLL] = a[ROLL] / 400;
cfg.accZero[PITCH] = a[PITCH] / 400;
cfg.accZero[YAW] = a[YAW] / 400 - acc_1G; // for nunchuk 200=1G
cfg.accTrim[ROLL] = 0;
cfg.accTrim[PITCH] = 0;
writeParams(); // write accZero in EEPROM
}
calibratingA--;
@ -94,9 +93,9 @@ static void ACC_Common(void)
writeParams(); // write accZero in EEPROM
}
#endif
accADC[ROLL] -= accZero[ROLL];
accADC[PITCH] -= accZero[PITCH];
accADC[YAW] -= accZero[YAW];
accADC[ROLL] -= cfg.accZero[ROLL];
accADC[PITCH] -= cfg.accZero[PITCH];
accADC[YAW] -= cfg.accZero[YAW];
}
@ -118,6 +117,8 @@ static int16_t baroTemp = 0;
void Baro_update(void)
{
int32_t pressure;
if (currentTime < baroDeadline)
return;
@ -155,6 +156,15 @@ 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
//---------------------------------------------------
static int16_t mediaMobileGyroADC[3][MMGYROVECTORLENGTH];
static int32_t mediaMobileGyroADCSum[3];
static uint8_t mediaMobileGyroIDX;
//---------------------------------------------------
#endif
if (calibratingG > 0) {
for (axis = 0; axis < 3; axis++) {
@ -174,12 +184,25 @@ static void GYRO_Common(void)
calibratingG--;
}
#ifdef MMGYRO
mediaMobileGyroIDX = ++mediaMobileGyroIDX % MMGYROVECTORLENGTH;
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
mediaMobileGyroADCSum[axis] -= mediaMobileGyroADC[axis][mediaMobileGyroIDX];
//anti gyro glitch, limit the variation between two consecutive readings
mediaMobileGyroADC[axis][mediaMobileGyroIDX] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
mediaMobileGyroADCSum[axis] += mediaMobileGyroADC[axis][mediaMobileGyroIDX];
gyroADC[axis] = mediaMobileGyroADCSum[axis] / MMGYROVECTORLENGTH;
previousGyroADC[axis] = gyroADC[axis];
}
#else
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
//anti gyro glitch, limit the variation between two consecutive readings
gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
previousGyroADC[axis] = gyroADC[axis];
}
#endif
}
void Gyro_getADC(void)
@ -204,14 +227,9 @@ static void Mag_getRawADC(void)
{
static int16_t rawADC[3];
hmc5883lRead(rawADC);
// Hearty FUCK-YOU goes to all teh breakout sensor faggots who make a new orientation for each shitty board they make
// sensor order: X Z Y
// magADC[ROLL] = rawADC[0]; // X or negative? who knows mag stuff in multiwii is broken hardcore
// magADC[PITCH] = rawADC[2]; // Y
// no way? is this finally the proper orientation??
magADC[ROLL] = -rawADC[2]; // X or negative? who knows mag stuff in multiwii is broken hardcore
magADC[ROLL] = -rawADC[2]; // X
magADC[PITCH] = rawADC[0]; // Y
magADC[YAW] = rawADC[1]; // Z
}
@ -227,7 +245,7 @@ void Mag_init(void)
magCal[ROLL] = 1000.0 / abs(magADC[ROLL]);
magCal[PITCH] = 1000.0 / abs(magADC[PITCH]);
magCal[YAW] = 1000.0 / abs(magADC[YAW]);
hmc5883lFinishCal();
magInit = 1;
}
@ -249,7 +267,7 @@ void Mag_getADC(void)
if (calibratingM == 1) {
tCal = t;
for (axis = 0; axis < 3; axis++) {
magZero[axis] = 0;
cfg.magZero[axis] = 0;
magZeroTempMin[axis] = 0;
magZeroTempMax[axis] = 0;
}
@ -259,9 +277,9 @@ void Mag_getADC(void)
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] -= magZero[ROLL];
magADC[PITCH] -= magZero[PITCH];
magADC[YAW] -= magZero[YAW];
magADC[ROLL] -= cfg.magZero[ROLL];
magADC[PITCH] -= cfg.magZero[PITCH];
magADC[YAW] -= cfg.magZero[YAW];
}
if (tCal != 0) {
@ -276,7 +294,7 @@ void Mag_getADC(void)
} else {
tCal = 0;
for (axis = 0; axis < 3; axis++)
magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2;
cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2;
writeParams();
}
}