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Code Issues Wiki Activity

Fix to acc gyro accumulation code

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This commit is contained in:
Martin Budden 2017-11-28 15:10:11 +00:00
parent 94d3549299
commit c0b1572175
3 changed files with 29 additions and 30 deletions
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26
src/main/sensors/acceleration.c
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@ -69,9 +69,8 @@
acc_t acc; // acc access functions
static float accumulator[XYZ_AXIS_COUNT];
static timeUs_t accumulatedTimeUs;
static timeUs_t lastTimeSampledUs;
static float accumulatedMeasurements[XYZ_AXIS_COUNT];
static int accumulatedMeasurementCount;
static uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
@ -469,6 +468,8 @@ static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrim
void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
{
UNUSED(currentTimeUs);
if (!acc.dev.readFn(&acc.dev)) {
return;
}
@ -497,28 +498,25 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
applyAccelerationTrims(accelerationTrims);
const timeDelta_t sampleDeltaUs = currentTimeUs - lastTimeSampledUs;
lastTimeSampledUs = currentTimeUs;
accumulatedTimeUs += sampleDeltaUs;
++accumulatedMeasurementCount;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulator[axis] += acc.accSmooth[axis] * sampleDeltaUs;
accumulatedMeasurements[axis] += acc.accSmooth[axis];
}
}
bool accGetAccumulationAverage(float *accumulation)
bool accGetAccumulationAverage(float *accumulationAverage)
{
if (accumulatedTimeUs > 0) {
const float accumulatedTimeS = accumulatedTimeUs * 1e-6;
if (accumulatedMeasurementCount > 0) {
// If we have gyro data accumulated, calculate average rate that will yield the same rotation
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulation[axis] = accumulator[axis] / accumulatedTimeS;
accumulator[axis] = 0.0f;
accumulationAverage[axis] = accumulatedMeasurements[axis] / accumulatedMeasurementCount;
accumulatedMeasurements[axis] = 0.0f;
}
accumulatedTimeUs = 0;
accumulatedMeasurementCount = 0;
return true;
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulation[axis] = 0.0f;
accumulationAverage[axis] = 0.0f;
}
return false;
}