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synced serial protocol to multiwii-dev 20120622

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changed booleans to bitfield struct to match with 0622
no other functional changes, and not all enhancements (like boxlight) from 0622 are implemented yet
NOT flight tested, use at your own risk.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@172 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-06-30 13:20:53 +00:00
parent 2fd5645dce
commit 9c2204c179
11 changed files with 5584 additions and 5472 deletions
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6
src/sensors.c
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@ -1,10 +1,8 @@
#include "board.h"
#include "mw.h"
uint8_t calibratedACC = 0;
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
uint16_t calibratingG = 0;
uint8_t calibratingM = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration.
int16_t heading, magHold;
@ -420,14 +418,14 @@ void Mag_getADC(void)
magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
magADC[YAW] = magADC[YAW] * magCal[YAW];
if (calibratingM == 1) {
if (f.CALIBRATE_MAG) {
tCal = t;
for (axis = 0; axis < 3; axis++) {
cfg.magZero[axis] = 0;
magZeroTempMin[axis] = magADC[axis];
magZeroTempMax[axis] = magADC[axis];
}
calibratingM = 0;
f.CALIBRATE_MAG = 0;
}
if (magInit) { // we apply offset only once mag calibration is done