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Disable ADC debug output and enable AltHold debugging output.

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This commit is contained in:
Dominic Clifton 2014-06-23 22:05:26 +01:00
parent 91bfdf05ca
commit e30a373c92
2 changed files with 13 additions and 11 deletions
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2
src/main/drivers/adc.c
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@ -32,7 +32,7 @@ extern int16_t debug[4];
uint16_t adcGetChannel(uint8_t channel) uint16_t adcGetChannel(uint8_t channel)
{ {
#if 1 #if 0
if (adcConfig[0].enabled) { if (adcConfig[0].enabled) {
debug[0] = adcValues[adcConfig[0].dmaIndex]; debug[0] = adcValues[adcConfig[0].dmaIndex];
} }

22
src/main/flight/imu.c
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@ -42,6 +42,8 @@
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/imu.h" #include "flight/imu.h"
extern int16_t debug[4];
int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT]; int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
int32_t accSum[XYZ_AXIS_COUNT]; int32_t accSum[XYZ_AXIS_COUNT];
@ -374,12 +376,12 @@ bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old) int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)
{ {
uint32_t baroPID = 0; uint32_t newBaroPID = 0;
int32_t error; int32_t error;
int32_t setVel; int32_t setVel;
if (!isThrustFacingDownwards(&inclination)) { if (!isThrustFacingDownwards(&inclination)) {
return baroPID; return newBaroPID;
} }
// Altitude P-Controller // Altitude P-Controller
@ -392,17 +394,17 @@ int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)
// P // P
error = setVel - vel_tmp; error = setVel - vel_tmp;
baroPID = constrain((pidProfile->P8[PIDVEL] * error / 32), -300, +300); newBaroPID = constrain((pidProfile->P8[PIDVEL] * error / 32), -300, +300);
// I // I
errorAltitudeI += (pidProfile->I8[PIDVEL] * error) / 8; errorAltitudeI += (pidProfile->I8[PIDVEL] * error) / 8;
errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200)); errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200));
baroPID += errorAltitudeI / 1024; // I in range +/-200 newBaroPID += errorAltitudeI / 1024; // I in range +/-200
// D // D
baroPID -= constrain(pidProfile->D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150); newBaroPID -= constrain(pidProfile->D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
return baroPID; return newBaroPID;
} }
void calculateEstimatedAltitude(uint32_t currentTime) void calculateEstimatedAltitude(uint32_t currentTime)
@ -444,10 +446,10 @@ void calculateEstimatedAltitude(uint32_t currentTime)
EstAlt = accAlt; EstAlt = accAlt;
vel += vel_acc; vel += vel_acc;
#if 0 #if 1
debug[0] = accSum[2] / accSumCount; // acceleration debug[1] = accSum[2] / accSumCount; // acceleration
debug[1] = vel; // velocity debug[2] = vel; // velocity
debug[2] = accAlt; // height debug[3] = accAlt; // height
#endif #endif
accSum_reset(); accSum_reset();