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AltHold cleanup.

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* Renamed several methods and variables so they make more sense.
* Move more altitude hold related code out of imu.c/h into
altitudehold.c/h.
* Fixed a unsigned integer being using instead of an signed integer in
the throttle calculation code.
This commit is contained in:
Dominic Clifton 2014-09-29 01:34:15 +01:00
parent 7d4abb8a4a
commit daa823ddba
8 changed files with 222 additions and 199 deletions
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9
src/main/flight/imu.h
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@ -20,8 +20,11 @@
extern int32_t errorVelocityI;
extern uint8_t velocityControl;
extern int32_t setVelocity;
extern int32_t BaroPID;
extern int32_t altHoldThrottleAdjustment;
extern int16_t throttleAngleCorrection;
extern uint32_t accTimeSum;
extern int accSumCount;
extern float accVelScale;
typedef struct imuRuntimeConfig_s {
uint8_t acc_lpf_factor;
@ -31,10 +34,12 @@ typedef struct imuRuntimeConfig_s {
int8_t small_angle;
} imuRuntimeConfig_t;
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband);
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, accDeadband_t *initialAccDeadband);
void calculateEstimatedAltitude(uint32_t currentTime);
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration);
void calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
void calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
void accSum_reset(void);