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merged multiwii_dev-20120219

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untested, but compiles and works in gui.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@91 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-02-21 09:15:51 +00:00
parent 5ff5b69db6
commit e1afcdca09
8 changed files with 152 additions and 123 deletions
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13
sensors.c
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@ -71,6 +71,7 @@ static void ACC_Common(void)
}
//all values are measured
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
blinkLED(10, 10, 2); //buzzer for indicatiing the start inflight
// recover saved values to maintain current flight behavior until new values are transferred
@ -135,16 +136,16 @@ void Baro_update(void)
case 2:
bmp085_start_up();
baroState++;
baroDeadline += 26000;
baroDeadline += 14000;
break;
case 3:
baroUP = bmp085_get_up();
baroTemp = bmp085_get_temperature(baroUT);
pressure = bmp085_get_pressure(baroUP);
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 443300.0f; //decimeter
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 4433000.0f; // centimeter
baroState = 0;
baroDeadline += 20000;
baroDeadline += 5000;
break;
}
}
@ -219,9 +220,9 @@ void Mag_init(void)
Mag_getRawADC();
delay(10);
magCal[ROLL] = 1000.0 / magADC[ROLL];
magCal[PITCH] = 1000.0 / magADC[PITCH];
magCal[YAW] = -1000.0 / magADC[YAW];
magCal[ROLL] = 1000.0 / abs(magADC[ROLL]);
magCal[PITCH] = 1000.0 / abs(magADC[PITCH]);
magCal[YAW] = 1000.0 / abs(magADC[YAW]);
hmc5883lFinishCal();
magInit = 1;