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Add DUAL_GYRO_SCALED debug mode to capture raw scaled roll/pitch from each gyro

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Data is before the filters but scaled to 0-2000dps.

debug(0) = gyro 1 roll
debug(1) = gyro 1 pitch
debug(2) = gyro 2 roll
debug(3) = gyro 2 roll
This commit is contained in:
Bruce Luckcuck 2019-03-23 12:09:08 -04:00
parent 616b476bb9
commit acf0af7790
3 changed files with 11 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/main/build/debug.c
View file

@ -85,4 +85,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"D_MIN", "D_MIN",
"AC_CORRECTION", "AC_CORRECTION",
"AC_ERROR", "AC_ERROR",
"DUAL_GYRO_SCALED",
}; };

1
src/main/build/debug.h
View file

@ -101,6 +101,7 @@ typedef enum {
DEBUG_D_MIN, DEBUG_D_MIN,
DEBUG_AC_CORRECTION, DEBUG_AC_CORRECTION,
DEBUG_AC_ERROR, DEBUG_AC_ERROR,
DEBUG_DUAL_GYRO_SCALED,
DEBUG_COUNT DEBUG_COUNT
} debugType_e; } debugType_e;

9
src/main/sensors/gyro.c
View file

@ -514,6 +514,7 @@ bool gyroInit(void)
case DEBUG_DUAL_GYRO_COMBINE: case DEBUG_DUAL_GYRO_COMBINE:
case DEBUG_DUAL_GYRO_DIFF: case DEBUG_DUAL_GYRO_DIFF:
case DEBUG_DUAL_GYRO_RAW: case DEBUG_DUAL_GYRO_RAW:
case DEBUG_DUAL_GYRO_SCALED:
useDualGyroDebugging = true; useDualGyroDebugging = true;
break; break;
} }
@ -1098,6 +1099,8 @@ FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DUAL_GYRO, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y])); DEBUG_SET(DEBUG_DUAL_GYRO, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 0, lrintf(gyro.gyroADCf[X])); DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 0, lrintf(gyro.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 1, lrintf(gyro.gyroADCf[Y])); DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 1, lrintf(gyro.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 0, lrintf(gyroSensor1.gyroDev.gyroADC[X] * gyroSensor1.gyroDev.scale));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 1, lrintf(gyroSensor1.gyroDev.gyroADC[Y] * gyroSensor1.gyroDev.scale));
} }
break; break;
#ifdef USE_MULTI_GYRO #ifdef USE_MULTI_GYRO
@ -1121,6 +1124,8 @@ FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DUAL_GYRO, 3, lrintf(gyroSensor2.gyroDev.gyroADCf[Y])); DEBUG_SET(DEBUG_DUAL_GYRO, 3, lrintf(gyroSensor2.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 2, lrintf(gyro.gyroADCf[X])); DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 2, lrintf(gyro.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 3, lrintf(gyro.gyroADCf[Y])); DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 3, lrintf(gyro.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 2, lrintf(gyroSensor2.gyroDev.gyroADC[X] * gyroSensor2.gyroDev.scale));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 3, lrintf(gyroSensor2.gyroDev.gyroADC[Y] * gyroSensor2.gyroDev.scale));
} }
break; break;
case GYRO_CONFIG_USE_GYRO_BOTH: case GYRO_CONFIG_USE_GYRO_BOTH:
@ -1152,6 +1157,10 @@ FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 0, lrintf(gyroSensor1.gyroDev.gyroADCf[X] - gyroSensor2.gyroDev.gyroADCf[X])); DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 0, lrintf(gyroSensor1.gyroDev.gyroADCf[X] - gyroSensor2.gyroDev.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y] - gyroSensor2.gyroDev.gyroADCf[Y])); DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y] - gyroSensor2.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 2, lrintf(gyroSensor1.gyroDev.gyroADCf[Z] - gyroSensor2.gyroDev.gyroADCf[Z])); DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 2, lrintf(gyroSensor1.gyroDev.gyroADCf[Z] - gyroSensor2.gyroDev.gyroADCf[Z]));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 0, lrintf(gyroSensor1.gyroDev.gyroADC[X] * gyroSensor1.gyroDev.scale));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 1, lrintf(gyroSensor1.gyroDev.gyroADC[Y] * gyroSensor1.gyroDev.scale));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 2, lrintf(gyroSensor2.gyroDev.gyroADC[X] * gyroSensor2.gyroDev.scale));
DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 3, lrintf(gyroSensor2.gyroDev.gyroADC[Y] * gyroSensor2.gyroDev.scale));
} }
break; break;
#endif #endif