Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Acc fn/variable renames to align with iNav

Browse source
This commit is contained in:
Martin Budden 2017-12-29 09:56:04 +00:00
parent ff0628193f
commit d90b42970c
10 changed files with 39 additions and 40 deletions
Download patch file Download diff file Expand all files Collapse all files

37
src/main/sensors/acceleration.c
View file

@ -231,11 +231,10 @@ retry:
case ACC_ICM20608G:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
#else
if (mpu6500AccDetect(dev))
if (mpu6500AccDetect(dev)) {
#endif
{
#ifdef ACC_MPU6500_ALIGN
dev->accAlign = ACC_MPU6500_ALIGN;
#endif
@ -371,7 +370,7 @@ void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
calibratingA = calibrationCyclesRequired;
}
bool isAccelerationCalibrationComplete(void)
bool accIsCalibrationComplete(void)
{
return calibratingA == 0;
}
@ -393,14 +392,15 @@ static void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims
for (int axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (isOnFirstAccelerationCalibrationCycle())
if (isOnFirstAccelerationCalibrationCycle()) {
a[axis] = 0;
}
// Sum up CALIBRATING_ACC_CYCLES readings
a[axis] += acc.accSmooth[axis];
a[axis] += acc.accADC[axis];
// Reset global variables to prevent other code from using un-calibrated data
acc.accSmooth[axis] = 0;
acc.accADC[axis] = 0;
accelerationTrims->raw[axis] = 0;
}
@ -420,7 +420,6 @@ static void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims
static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{
uint8_t axis;
static int32_t b[3];
static int16_t accZero_saved[3] = { 0, 0, 0 };
static rollAndPitchTrims_t angleTrim_saved = { { 0, 0 } };
@ -434,14 +433,14 @@ static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndP
angleTrim_saved.values.pitch = rollAndPitchTrims->values.pitch;
}
if (InflightcalibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (InflightcalibratingA == 50)
b[axis] = 0;
// Sum up 50 readings
b[axis] += acc.accSmooth[axis];
b[axis] += acc.accADC[axis];
// Clear global variables for next reading
acc.accSmooth[axis] = 0;
acc.accADC[axis] = 0;
accelerationTrims->raw[axis] = 0;
}
// all values are measured
@ -473,9 +472,9 @@ static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndP
static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
{
acc.accSmooth[X] -= accelerationTrims->raw[X];
acc.accSmooth[Y] -= accelerationTrims->raw[Y];
acc.accSmooth[Z] -= accelerationTrims->raw[Z];
acc.accADC[X] -= accelerationTrims->raw[X];
acc.accADC[Y] -= accelerationTrims->raw[Y];
acc.accADC[Z] -= accelerationTrims->raw[Z];
}
void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
@ -489,18 +488,18 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
DEBUG_SET(DEBUG_ACCELEROMETER, axis, acc.dev.ADCRaw[axis]);
acc.accSmooth[axis] = acc.dev.ADCRaw[axis];
acc.accADC[axis] = acc.dev.ADCRaw[axis];
}
if (accLpfCutHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
acc.accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)acc.accSmooth[axis]));
acc.accADC[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)acc.accADC[axis]));
}
}
alignSensors(acc.accSmooth, acc.dev.accAlign);
alignSensors(acc.accADC, acc.dev.accAlign);
if (!isAccelerationCalibrationComplete()) {
if (!accIsCalibrationComplete()) {
performAcclerationCalibration(rollAndPitchTrims);
}
@ -512,7 +511,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
++accumulatedMeasurementCount;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulatedMeasurements[axis] += acc.accSmooth[axis];
accumulatedMeasurements[axis] += acc.accADC[axis];
}
}