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Merge pull request #5909 from etracer65/gyro_calib_cleanup

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Gyro calibration cleanup and use floating point calculations for zero offset
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Michael Keller 2018-05-17 23:19:43 +12:00 • committed by GitHub
commit b5521b927d
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1 changed files with 11 additions and 11 deletions
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22
src/main/sensors/gyro.c
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@ -99,9 +99,9 @@ static FAST_RAM timeUs_t accumulationLastTimeSampledUs;
static bool gyroHasOverflowProtection = true;
typedef struct gyroCalibration_s {
int32_t sum[XYZ_AXIS_COUNT];
float sum[XYZ_AXIS_COUNT];
stdev_t var[XYZ_AXIS_COUNT];
uint32_t calibratingG;
int32_t cyclesRemaining;
} gyroCalibration_t;
bool firstArmingCalibrationWasStarted = false;
@ -847,7 +847,7 @@ void gyroInitFilters(void)
FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
{
return gyroSensor->calibration.calibratingG == 0;
return gyroSensor->calibration.cyclesRemaining == 0;
}
FAST_CODE bool isGyroCalibrationComplete(void)
@ -872,22 +872,22 @@ FAST_CODE bool isGyroCalibrationComplete(void)
static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
return gyroCalibration->calibratingG == 1;
return gyroCalibration->cyclesRemaining == 1;
}
static uint32_t gyroCalculateCalibratingCycles(void)
static int32_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_TIME_US / gyro.targetLooptime);
}
static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
return gyroCalibration->calibratingG == gyroCalculateCalibratingCycles();
return gyroCalibration->cyclesRemaining == gyroCalculateCalibratingCycles();
}
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{
gyroSensor->calibration.calibratingG = gyroCalculateCalibratingCycles();
gyroSensor->calibration.cyclesRemaining = gyroCalculateCalibratingCycles();
}
void gyroStartCalibration(bool isFirstArmingCalibration)
@ -914,10 +914,10 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// Reset g[axis] at start of calibration
if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
gyroSensor->calibration.sum[axis] = 0;
gyroSensor->calibration.sum[axis] = 0.0f;
devClear(&gyroSensor->calibration.var[axis]);
// gyroZero is set to zero until calibration complete
gyroSensor->gyroDev.gyroZero[axis] = 0;
gyroSensor->gyroDev.gyroZero[axis] = 0.0f;
}
// Sum up CALIBRATING_GYRO_TIME_US readings
@ -936,7 +936,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
}
// please take care with exotic boardalignment !!
gyroSensor->gyroDev.gyroZero[axis] = (float)gyroSensor->calibration.sum[axis] / (float)gyroCalculateCalibratingCycles();
gyroSensor->gyroDev.gyroZero[axis] = gyroSensor->calibration.sum[axis] / gyroCalculateCalibratingCycles();
if (axis == Z) {
gyroSensor->gyroDev.gyroZero[axis] -= ((float)gyroConfig()->gyro_offset_yaw / 100);
}
@ -949,7 +949,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
beeper(BEEPER_GYRO_CALIBRATED);
}
}
--gyroSensor->calibration.calibratingG;
--gyroSensor->calibration.cyclesRemaining;
}