Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 06:45:16 +03:00
Code Issues Wiki Activity

Improved compass calibration.

Browse source
This commit is contained in:
mikeller 2019-11-16 23:54:37 +13:00
parent cfa4055132
commit a045a9c672
11 changed files with 79 additions and 45 deletions
Download patch file Download diff file Expand all files Collapse all files

21
src/main/msp/msp.c
View file

@ -963,7 +963,11 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, gyroRateDps(i));
}
for (int i = 0; i < 3; i++) {
#if defined(USE_MAG)
sbufWriteU16(dst, lrintf(mag.magADC[i]));
#else
sbufWriteU16(dst, 0);
#endif
}
}
break;
@ -1515,7 +1519,11 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#endif
sbufWriteU8(dst, gyroAlignment);
sbufWriteU8(dst, gyroAlignment); // Starting with 4.0 gyro and acc alignment are the same
#if defined(USE_MAG)
sbufWriteU8(dst, compassConfig()->mag_alignment);
#else
sbufWriteU8(dst, 0);
#endif
// API 1.41 - Add multi-gyro indicator, selected gyro, and support for separate gyro 1 & 2 alignment
sbufWriteU8(dst, getGyroDetectionFlags());
@ -2278,7 +2286,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, uint8_t cmdMSP,
// maintain backwards compatibility for API < 1.41
const uint8_t gyroAlignment = sbufReadU8(src);
sbufReadU8(src); // discard deprecated acc_align
#if defined(USE_MAG)
compassConfigMutable()->mag_alignment = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
if (sbufBytesRemaining(src) >= 3) {
// API >= 1.41 - support the gyro_to_use and alignment for gyros 1 & 2
@ -2534,11 +2546,14 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, uint8_t cmdMSP,
break;
#endif
#if defined(USE_MAG)
case MSP_MAG_CALIBRATION:
if (!ARMING_FLAG(ARMED))
ENABLE_STATE(CALIBRATE_MAG);
break;
if (!ARMING_FLAG(ARMED)) {
compassStartCalibration();
}
#endif
break;
case MSP_EEPROM_WRITE:
if (ARMING_FLAG(ARMED)) {
return MSP_RESULT_ERROR;