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synced with mwc 2.1. it's suprising how many "new" things in 2.1 didn't actually matter on a real platform.

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removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below)
2.1 buzzer code changed, untested.
removed flying wing mixer. nobody used that. 
added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1.
increased bmp085 oversampling
added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz.
merged 2.1 gps changes (not many)
casting in gyro smoothing (nobody uses that anyway)
calibrate accel in gimbal mode, set smallangle in gyro-only mode
vtail4 mixer fix
flight tested on quadx w/ppm.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-20 14:53:15 +00:00
parent e70d7b5d16
commit c98113b82c
19 changed files with 5363 additions and 5696 deletions
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27
src/sensors.c
View file

@ -138,7 +138,7 @@ void batteryInit(void)
static void ACC_Common(void)
{
static int32_t a[3];
uint32_t axis;
int axis;
if (calibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
@ -156,8 +156,8 @@ static void ACC_Common(void)
cfg.accZero[ROLL] = a[ROLL] / 400;
cfg.accZero[PITCH] = a[PITCH] / 400;
cfg.accZero[YAW] = a[YAW] / 400 - acc_1G; // for nunchuk 200=1G
cfg.accTrim[ROLL] = 0;
cfg.accTrim[PITCH] = 0;
cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0;
writeParams(1); // write accZero in EEPROM
}
calibratingA--;
@ -166,17 +166,16 @@ static void ACC_Common(void)
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
static int32_t b[3];
static int16_t accZero_saved[3] = { 0, 0, 0 };
static int16_t accTrim_saved[2] = { 0, 0 };
static int16_t angleTrim_saved[2] = { 0, 0 };
// Saving old zeropoints before measurement
if (InflightcalibratingA == 50) {
accZero_saved[ROLL] = cfg.accZero[ROLL];
accZero_saved[PITCH] = cfg.accZero[PITCH];
accZero_saved[YAW] = cfg.accZero[YAW];
accTrim_saved[ROLL] = cfg.accTrim[ROLL];
accTrim_saved[PITCH] = cfg.accTrim[PITCH];
angleTrim_saved[ROLL] = cfg.angleTrim[ROLL];
angleTrim_saved[PITCH] = cfg.angleTrim[PITCH];
}
if (InflightcalibratingA > 0) {
uint8_t axis;
for (axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (InflightcalibratingA == 50)
@ -191,13 +190,13 @@ static void ACC_Common(void)
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
toggleBeep = 2; //buzzer for indicatiing the end of calibration
toggleBeep = 2; // buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred
cfg.accZero[ROLL] = accZero_saved[ROLL];
cfg.accZero[PITCH] = accZero_saved[PITCH];
cfg.accZero[YAW] = accZero_saved[YAW];
cfg.accTrim[ROLL] = accTrim_saved[ROLL];
cfg.accTrim[PITCH] = accTrim_saved[PITCH];
cfg.angleTrim[ROLL] = angleTrim_saved[ROLL];
cfg.angleTrim[PITCH] = angleTrim_saved[PITCH];
}
InflightcalibratingA--;
}
@ -207,8 +206,8 @@ static void ACC_Common(void)
cfg.accZero[ROLL] = b[ROLL] / 50;
cfg.accZero[PITCH] = b[PITCH] / 50;
cfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G
cfg.accTrim[ROLL] = 0;
cfg.accTrim[PITCH] = 0;
cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0;
writeParams(1); // write accZero in EEPROM
}
}
@ -254,7 +253,7 @@ void Baro_update(void)
case 2:
bmp085_start_up();
baroState++;
baroDeadline += 14000;
baroDeadline += 26000;
break;
case 3:
baroUP = bmp085_get_up();
@ -272,7 +271,7 @@ static void GYRO_Common(void)
{
static int16_t previousGyroADC[3] = { 0, 0, 0 };
static int32_t g[3];
uint32_t axis;
int axis;
if (calibratingG > 0) {
for (axis = 0; axis < 3; axis++) {