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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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26
src/mw.c
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@ -181,6 +181,7 @@ void annexCode(void)
}
}
#ifdef LEDRING
if (feature(FEATURE_LED_RING)) {
static uint32_t LEDTime;
if (currentTime > LEDTime) {
@ -188,6 +189,7 @@ void annexCode(void)
ledringState();
}
}
#endif
if (currentTime > calibratedAccTime) {
if (smallAngle25 == 0) {
@ -333,23 +335,31 @@ void loop(void)
} else if (rcData[PITCH] > cfg.maxcheck) {
cfg.accTrim[PITCH] += 2;
writeParams();
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else if (rcData[PITCH] < cfg.mincheck) {
cfg.accTrim[PITCH] -= 2;
writeParams();
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else if (rcData[ROLL] > cfg.maxcheck) {
cfg.accTrim[ROLL] += 2;
writeParams();
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else if (rcData[ROLL] < cfg.mincheck) {
cfg.accTrim[ROLL] -= 2;
writeParams();
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else {
rcDelayCommand = 0;
}
@ -402,6 +412,7 @@ void loop(void)
LED1_OFF;
}
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (rcOptions[BOXBARO]) {
if (baroMode == 0) {
@ -414,7 +425,9 @@ void loop(void)
} else
baroMode = 0;
}
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (magMode == 0) {
@ -430,6 +443,7 @@ void loop(void)
} else
headFreeMode = 0;
}
#endif
if (sensors(SENSOR_GPS)) {
if (rcOptions[BOXGPSHOME]) {
@ -456,18 +470,24 @@ void loop(void)
switch (taskOrder) {
case 0:
taskOrder++;
#ifdef MAG
if (sensors(SENSOR_MAG))
Mag_getADC();
#endif
break;
case 1:
taskOrder++;
#ifdef BARO
if (sensors(SENSOR_BARO))
Baro_update();
#endif
break;
case 2:
taskOrder++;
#ifdef BARO
if (sensors(SENSOR_BARO))
getEstimatedAltitude();
#endif
break;
case 3:
taskOrder++;
@ -487,8 +507,11 @@ void loop(void)
cycleTime = currentTime - previousTime;
previousTime = currentTime;
#ifdef MPU6050_DMP
mpu6050DmpLoop();
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && magMode) {
int16_t dif = heading - magHold;
@ -501,7 +524,9 @@ void loop(void)
} else
magHold = heading;
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (baroMode) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > 20) {
@ -510,6 +535,7 @@ void loop(void)
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
}
#endif
if (sensors(SENSOR_GPS)) {
uint16_t GPS_dist = 0;