Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 05:15:25 +03:00
Code Issues Wiki Activity

spacing

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

8
src/imu.c
View file

@ -191,7 +191,7 @@ void acc_calc(uint32_t deltaT)
accel_ned.V.Z -= accZoffset / 64; // compensate for gravitation on z-axis accel_ned.V.Z -= accZoffset / 64; // compensate for gravitation on z-axis
} else } else
accel_ned.V.Z -= acc_1G; accel_ned.V.Z -= acc_1G;
accz_smooth = accz_smooth + (deltaT / (fc_acc + deltaT)) * (accel_ned.V.Z - accz_smooth); // low pass filter accz_smooth = accz_smooth + (deltaT / (fc_acc + deltaT)) * (accel_ned.V.Z - accz_smooth); // low pass filter
// apply Deadband to reduce integration drift and vibration influence // apply Deadband to reduce integration drift and vibration influence
@ -339,7 +339,7 @@ int getEstimatedAltitude(void)
baroGroundPressure -= baroGroundPressure / 8; baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / (cfg.baro_tab_size - 1); baroGroundPressure += baroPressureSum / (cfg.baro_tab_size - 1);
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f; baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
vel = 0; vel = 0;
accAlt = 0; accAlt = 0;
calibratingB--; calibratingB--;
@ -358,8 +358,8 @@ int getEstimatedAltitude(void)
vel_acc = accZ_tmp * accVelScale * (float)accTimeSum; vel_acc = accZ_tmp * accVelScale * (float)accTimeSum;
// 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;

2
src/main.c
View file

@ -88,7 +88,7 @@ int main(void)
break; break;
default: default:
pwm_params.adcChannel = 0; pwm_params.adcChannel = 0;
break; break;
} }
pwmInit(&pwm_params); pwmInit(&pwm_params);

16
src/mw.c
View file

@ -51,11 +51,11 @@ uint16_t GPS_ground_course = 0; // degrees * 10
int16_t nav[2]; int16_t nav[2];
int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
int8_t nav_mode = NAV_MODE_NONE; // Navigation mode int8_t nav_mode = NAV_MODE_NONE; // Navigation mode
uint8_t GPS_numCh; // Number of channels uint8_t GPS_numCh; // Number of channels
uint8_t GPS_svinfo_chn[16]; // Channel number uint8_t GPS_svinfo_chn[16]; // Channel number
uint8_t GPS_svinfo_svid[16]; // Satellite ID uint8_t GPS_svinfo_svid[16]; // Satellite ID
uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength) uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
// Automatic ACC Offset Calibration // Automatic ACC Offset Calibration
uint16_t InflightcalibratingA = 0; uint16_t InflightcalibratingA = 0;
@ -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
} }

10
src/sbus.c
View file

@ -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)
@ -49,9 +49,9 @@ typedef union
uint8_t in[SBUS_FRAME_SIZE]; uint8_t in[SBUS_FRAME_SIZE];
struct sbus_dat msg; struct sbus_dat msg;
} sbus_msg; } sbus_msg;
static sbus_msg sbus; static sbus_msg sbus;
// Receive ISR callback // Receive ISR callback
static void sbusDataReceive(uint16_t c) static void sbusDataReceive(uint16_t c)
{ {
@ -63,12 +63,12 @@ static void sbusDataReceive(uint16_t c)
if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing
sbusFramePosition = 0; sbusFramePosition = 0;
sbusTimeLast = sbusTime; sbusTimeLast = sbusTime;
if (sbusFramePosition == 0 && c != SBUS_SYNCBYTE) if (sbusFramePosition == 0 && c != SBUS_SYNCBYTE)
return; return;
sbusFrameDone = false; // lazy main loop didnt fetch the stuff sbusFrameDone = false; // lazy main loop didnt fetch the stuff
if (sbusFramePosition != 0) if (sbusFramePosition != 0)
sbus.in[sbusFramePosition - 1] = (uint8_t)c; sbus.in[sbusFramePosition - 1] = (uint8_t)c;
if (sbusFramePosition == SBUS_FRAME_SIZE - 1) { if (sbusFramePosition == SBUS_FRAME_SIZE - 1) {

5
src/sensors.c
View file

@ -179,8 +179,8 @@ static void ACC_Common(void)
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (calibratingA == 1) { if (calibratingA == 1) {
mcfg.accZero[ROLL] = (a[ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES; mcfg.accZero[ROLL] = (a[ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[PITCH] = (a[PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES; mcfg.accZero[PITCH] = (a[PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[YAW] = (a[YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G; mcfg.accZero[YAW] = (a[YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
cfg.angleTrim[ROLL] = 0; cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0; cfg.angleTrim[PITCH] = 0;
writeEEPROM(1, true); // write accZero in EEPROM writeEEPROM(1, true); // write accZero in EEPROM
@ -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;

4
src/sumd.c
View file

@ -16,7 +16,7 @@ static uint32_t sumdChannelData[SUMD_MAX_CHANNEL];
void sumdInit(rcReadRawDataPtr *callback) void sumdInit(rcReadRawDataPtr *callback)
{ {
core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX); core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX);
if (callback) if (callback)
*callback = sumdReadRawRC; *callback = sumdReadRawRC;
} }
@ -60,7 +60,7 @@ bool sumdFrameComplete(void)
sumdFrameDone = false; sumdFrameDone = false;
if (sumd[1] == 0x01) { if (sumd[1] == 0x01) {
failsafeCnt = 0; failsafeCnt = 0;
if (sumdSize > SUMD_MAX_CHANNEL) if (sumdSize > SUMD_MAX_CHANNEL)
sumdSize = SUMD_MAX_CHANNEL; sumdSize = SUMD_MAX_CHANNEL;
for (b = 0; b < sumdSize; b++) for (b = 0; b < sumdSize; b++)
sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]); sumdChannelData[b] = ((sumd[2 * b + 3] << 8) | sumd[2 * b + 4]);

6
src/utils.c
View file

@ -30,7 +30,7 @@ void initBoardAlignment(void)
roll = mcfg.board_align_roll * M_PI / 180.0f; roll = mcfg.board_align_roll * M_PI / 180.0f;
pitch = mcfg.board_align_pitch * M_PI / 180.0f; pitch = mcfg.board_align_pitch * M_PI / 180.0f;
yaw = mcfg.board_align_yaw * M_PI / 180.0f; yaw = mcfg.board_align_yaw * M_PI / 180.0f;
cosx = cosf(roll); cosx = cosf(roll);
sinx = sinf(roll); sinx = sinf(roll);
cosy = cosf(pitch); cosy = cosf(pitch);
@ -48,11 +48,11 @@ void initBoardAlignment(void)
boardRotation[0][0] = coszcosy; boardRotation[0][0] = coszcosy;
boardRotation[0][1] = -cosy * sinz; boardRotation[0][1] = -cosy * sinz;
boardRotation[0][2] = siny; boardRotation[0][2] = siny;
boardRotation[1][0] = sinzcosx + (coszsinx * siny); boardRotation[1][0] = sinzcosx + (coszsinx * siny);
boardRotation[1][1] = coszcosx - (sinzsinx * siny); boardRotation[1][1] = coszcosx - (sinzsinx * siny);
boardRotation[1][2] = -sinx * cosy; boardRotation[1][2] = -sinx * cosy;
boardRotation[2][0] = (sinzsinx) - (coszcosx * siny); boardRotation[2][0] = (sinzsinx) - (coszcosx * siny);
boardRotation[2][1] = (coszsinx) + (sinzcosx * siny); boardRotation[2][1] = (coszsinx) + (sinzcosx * siny);
boardRotation[2][2] = cosy * cosx; boardRotation[2][2] = cosy * cosx;