Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

Split up imuUpdate for gyro and acc

Browse source
This commit is contained in:
borisbstyle 2015-12-05 12:52:43 +01:00
parent 81299e34de
commit b3f0bd1402
3 changed files with 14 additions and 17 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/flight/imu.c
View file

@ -425,12 +425,14 @@ static void imuCalculateEstimatedAttitude(void)
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
}
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors)
void imuUpdateGyro(void)
{
if (imuUpdateSensors == ONLY_GYRO || imuUpdateSensors == ACC_AND_GYRO) {
gyroUpdate();
}
if (sensors(SENSOR_ACC) && (!imuUpdateSensors == ONLY_GYRO)) {
gyroUpdate();
}
void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims)
{
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims);
imuCalculateEstimatedAttitude();
} else {

9
src/main/flight/imu.h
View file

@ -66,12 +66,6 @@ typedef enum {
ACCPROC_COPY
} accProcessorState_e;
typedef enum {
ONLY_GYRO = 0,
ONLY_ACC,
ACC_AND_GYRO
} imuUpdateMode_e;
typedef struct accProcessor_s {
accProcessorState_e state;
} accProcessor_t;
@ -92,4 +86,5 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
int16_t imuCalculateHeading(t_fp_vector *vec);
void imuResetAccelerationSum(void);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors);
void imuUpdateGyro(void);
void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims);

10
src/main/mw.c
View file

@ -774,11 +774,11 @@ void loop(void)
haveProcessedRxOnceBeforeLoop = false;
imuUpdateGyro();
// Determine current flight mode. When no acc needed in pid calculations we should only read gyro to reduce latency
if (!flightModeFlags) {
imuUpdate(&currentProfile->accelerometerTrims, ONLY_GYRO); // When no level modes active read only gyro
} else {
imuUpdate(&currentProfile->accelerometerTrims, ACC_AND_GYRO); // When level modes active read gyro and acc
if (flightModeFlags) {
imuUpdateAcc(&currentProfile->accelerometerTrims); // When level modes active read gyro and acc
}
// Measure loop rate just after reading the sensors
@ -859,7 +859,7 @@ void loop(void)
// When no level modes active read acc after motor update
if (!flightModeFlags) {
imuUpdate(&currentProfile->accelerometerTrims, ONLY_ACC);
imuUpdateAcc(&currentProfile->accelerometerTrims);
}
#ifdef BLACKBOX