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Initial support for FY90Q hardware

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@146 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-04-08 14:46:50 +00:00
parent cb334ecf47
commit d9920756d9
15 changed files with 6681 additions and 2147 deletions
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6
src/imu.c
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@ -23,9 +23,11 @@ void imuInit(void)
{
acc_25deg = acc_1G * 0.423f;
#ifdef MAG
// if mag sensor is enabled, use it
if (sensors(SENSOR_MAG))
Mag_init();
#endif
}
void computeIMU(void)
@ -230,12 +232,15 @@ static void getEstimatedAttitude(void)
angle[ROLL] = _atan2f(EstG.V.X, EstG.V.Z);
angle[PITCH] = _atan2f(EstG.V.Y, EstG.V.Z);
#ifdef MAG
if (sensors(SENSOR_MAG)) {
// Attitude of the cross product vector GxM
heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10;
}
#endif
}
#ifdef BARO
#define UPDATE_INTERVAL 25000 // 40hz update rate (20hz LPF on acc)
#define INIT_DELAY 4000000 // 4 sec initialization delay
#define BARO_TAB_SIZE 40
@ -288,3 +293,4 @@ void getEstimatedAltitude(void)
temp32 = errorAltitudeI / 500; // I in range +/-60
BaroPID += temp32;
}
#endif /* BARO */