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Added debug output for gyro calibraton noise, increased 'moron_threshold' to 48.

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mikeller 2017-01-12 21:44:21 +13:00
parent 322ae59051
commit a91ff6838f
2 changed files with 6 additions and 1 deletions
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2
src/main/fc/config.c
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@ -627,7 +627,7 @@ void createDefaultConfig(master_t *config)
config->boardAlignment.yawDegrees = 0; config->boardAlignment.yawDegrees = 0;
config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
config->rcControlsConfig.yaw_control_direction = 1; config->rcControlsConfig.yaw_control_direction = 1;
config->gyroConfig.gyroMovementCalibrationThreshold = 32; config->gyroConfig.gyroMovementCalibrationThreshold = 48;
// xxx_hardware: 0:default/autodetect, 1: disable // xxx_hardware: 0:default/autodetect, 1: disable
config->compassConfig.mag_hardware = 1; config->compassConfig.mag_hardware = 1;

5
src/main/sensors/gyro.c
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@ -79,6 +79,8 @@ static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn; static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3]; static void *notchFilter2[3];
#define DEBUG_GYRO_CALIBRATION 3
static const extiConfig_t *selectMPUIntExtiConfig(void) static const extiConfig_t *selectMPUIntExtiConfig(void)
{ {
#if defined(MPU_INT_EXTI) #if defined(MPU_INT_EXTI)
@ -367,6 +369,9 @@ static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
if (isOnFinalGyroCalibrationCycle()) { if (isOnFinalGyroCalibrationCycle()) {
float dev = devStandardDeviation(&var[axis]); float dev = devStandardDeviation(&var[axis]);
DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(dev));
// check deviation and startover in case the model was moved // check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) { if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
gyroSetCalibrationCycles(); gyroSetCalibrationCycles();