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review of #4986 (#5422)

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* review #4986 v1

* jfliper requested changes

* correction
This commit is contained in:
adrianmiriuta 2018-03-14 14:37:39 +01:00 • committed by Michael Keller
parent b286c061e6
commit c2898a4fd9
5 changed files with 7 additions and 7 deletions
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2
src/main/blackbox/blackbox.c
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@ -988,7 +988,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->axisPID_I[i] = axisPID_I[i]; blackboxCurrent->axisPID_I[i] = axisPID_I[i];
blackboxCurrent->axisPID_D[i] = axisPID_D[i]; blackboxCurrent->axisPID_D[i] = axisPID_D[i];
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]); blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->accADC[i] = acc.accADC[i]; blackboxCurrent->accADC[i] = lrintf(acc.accADC[i]);
#ifdef USE_MAG #ifdef USE_MAG
blackboxCurrent->magADC[i] = mag.magADC[i]; blackboxCurrent->magADC[i] = mag.magADC[i];
#endif #endif

2
src/main/sensors/acceleration.c
View file

@ -503,7 +503,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
if (accLpfCutHz) { if (accLpfCutHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
acc.accADC[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)acc.accADC[axis])); acc.accADC[axis] = biquadFilterApply(&accFilter[axis], acc.accADC[axis]);
} }
} }

2
src/main/telemetry/frsky_hub.c
View file

@ -173,7 +173,7 @@ static void frSkyHubWriteByteInternal(const char data)
static void sendAccel(void) static void sendAccel(void)
{ {
for (unsigned i = 0; i < 3; i++) { for (unsigned i = 0; i < 3; i++) {
frSkyHubWriteFrame(ID_ACC_X + i, ((float)acc.accADC[i] / acc.dev.acc_1G) * 1000); frSkyHubWriteFrame(ID_ACC_X + i, ((int16_t)(acc.accADC[i] / acc.dev.acc_1G) * 1000));
} }
} }

2
src/main/telemetry/ibus_shared.c
View file

@ -310,7 +310,7 @@ static uint16_t getMode()
static int16_t getACC(uint8_t index) static int16_t getACC(uint8_t index)
{ {
return (int16_t)(((float)acc.accADC[index] / acc.dev.acc_1G) * 1000); return (int16_t)((acc.accADC[index] / acc.dev.acc_1G) * 1000);
} }
#if defined(USE_TELEMETRY_IBUS_EXTENDED) #if defined(USE_TELEMETRY_IBUS_EXTENDED)

6
src/main/telemetry/smartport.c
View file

@ -421,15 +421,15 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
*clearToSend = false; *clearToSend = false;
break; break;
case FSSP_DATAID_ACCX : case FSSP_DATAID_ACCX :
smartPortSendPackage(id, 100 * acc.accADC[X] / acc.dev.acc_1G); // Multiply by 100 to show as x.xx g on Taranis smartPortSendPackage(id, lrintf(100 * acc.accADC[X] / acc.dev.acc_1G)); // Multiply by 100 to show as x.xx g on Taranis
*clearToSend = false; *clearToSend = false;
break; break;
case FSSP_DATAID_ACCY : case FSSP_DATAID_ACCY :
smartPortSendPackage(id, 100 * acc.accADC[Y] / acc.dev.acc_1G); smartPortSendPackage(id, lrintf(100 * acc.accADC[Y] / acc.dev.acc_1G));
*clearToSend = false; *clearToSend = false;
break; break;
case FSSP_DATAID_ACCZ : case FSSP_DATAID_ACCZ :
smartPortSendPackage(id, 100 * acc.accADC[Z] / acc.dev.acc_1G); smartPortSendPackage(id, lrintf(100 * acc.accADC[Z] / acc.dev.acc_1G));
*clearToSend = false; *clearToSend = false;
break; break;
case FSSP_DATAID_T1 : case FSSP_DATAID_T1 :