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This commit is contained in:
treymarc 2014-04-12 02:51:42 +00:00
parent aa253a387d
commit cabf7eaac3
7 changed files with 25 additions and 26 deletions
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2
src/imu.c
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@ -359,7 +359,7 @@ int getEstimatedAltitude(void)
// Integrator - Altitude in cm // Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2) accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * cfg.baro_cf_alt + (float) BaroAlt *(1.0f - cfg.baro_cf_alt); // complementary filter for Altitude estimation (baro & acc) accAlt = accAlt * cfg.baro_cf_alt + (float)BaroAlt * (1.0f - cfg.baro_cf_alt); // complementary filter for Altitude estimation (baro & acc)
EstAlt = accAlt; EstAlt = accAlt;
vel += vel_acc; vel += vel_acc;

6
src/mw.c
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@ -103,7 +103,7 @@ void annexCode(void)
prop2 = 100; prop2 = 100;
} else { } else {
if (rcData[THROTTLE] < 2000) { if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpaBreakPoint) / (2000 - cfg.tpaBreakPoint); prop2 = 100 - (uint16_t)cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpaBreakPoint) / (2000 - cfg.tpaBreakPoint);
} else { } else {
prop2 = 100 - cfg.dynThrPID; prop2 = 100 - cfg.dynThrPID;
} }
@ -143,7 +143,7 @@ void annexCode(void)
} }
tmp = constrain(rcData[THROTTLE], mcfg.mincheck, 2000); tmp = constrain(rcData[THROTTLE], mcfg.mincheck, 2000);
tmp = (uint32_t) (tmp - mcfg.mincheck) * 1000 / (2000 - mcfg.mincheck); // [MINCHECK;2000] -> [0;1000] tmp = (uint32_t)(tmp - mcfg.mincheck) * 1000 / (2000 - mcfg.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100; tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE] rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
@ -363,7 +363,7 @@ static void pidRewrite(void)
// ----------PID controller---------- // ----------PID controller----------
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2 ) { // MODE relying on ACC if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// calculate error and limit the angle to max configured inclination // calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
} }

2
src/sbus.c
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@ -20,7 +20,7 @@ static uint32_t sbusChannelData[SBUS_MAX_CHANNEL];
void sbusInit(rcReadRawDataPtr *callback) void sbusInit(rcReadRawDataPtr *callback)
{ {
int b; int b;
for (b = 0; b < SBUS_MAX_CHANNEL; b ++) for (b = 0; b < SBUS_MAX_CHANNEL; b++)
sbusChannelData[b] = 2 * (mcfg.midrc - SBUS_OFFSET); sbusChannelData[b] = 2 * (mcfg.midrc - SBUS_OFFSET);
core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, (portMode_t)(MODE_RX | MODE_SBUS)); core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, (portMode_t)(MODE_RX | MODE_SBUS));
if (callback) if (callback)

1
src/sensors.c
View file

@ -264,7 +264,6 @@ void Baro_Common(void)
baroHistIdx = indexplus1; baroHistIdx = indexplus1;
} }
int Baro_update(void) int Baro_update(void)
{ {
static uint32_t baroDeadline = 0; static uint32_t baroDeadline = 0;