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Renaming angleInclination_t to rollAndPitchInclination. renamed angle

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to inclination.
This commit is contained in:
Dominic Clifton 2014-05-05 17:44:18 +01:00
parent a4b16f461c
commit d352c68c9b
7 changed files with 29 additions and 29 deletions
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12
src/flight_imu.c
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@ -68,7 +68,7 @@ float magneticDeclination = 0.0f; // calculated at startup from config
int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
angleInclinations_t angle = { { 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
rollAndPitchInclination_t inclination = { { 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
float anglerad[2] = { 0.0f, 0.0f }; // absolute angle inclination in radians
static void getEstimatedAttitude(void);
@ -324,8 +324,8 @@ static void getEstimatedAttitude(void)
// Attitude of the estimated vector
anglerad[AI_ROLL] = atan2f(EstG.V.Y, EstG.V.Z);
anglerad[AI_PITCH] = atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
angle.angles.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
angle.angles.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
inclination.angle.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
inclination.angle.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
if (sensors(SENSOR_MAG))
heading = calculateHeading(&EstM);
@ -356,9 +356,9 @@ static void getEstimatedAttitude(void)
#define DEGREES_80_IN_DECIDEGREES 800
bool isThrustFacingDownwards(angleInclinations_t *angleInclinations)
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
{
return abs(angleInclinations->angles.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(angleInclinations->angles.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
return abs(inclination->angle.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->angle.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
}
int getEstimatedAltitude(void)
@ -425,7 +425,7 @@ int getEstimatedAltitude(void)
vario = applyDeadband(vel_tmp, 5);
// only calculate pid if the copters thrust is facing downwards
if (isThrustFacingDownwards(&angle)) {
if (isThrustFacingDownwards(&inclination)) {
// Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500);
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position