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Merge pull request #2451 from martinbudden/bf_pg_configs1

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Added PG config definitions 1
This commit is contained in:
Martin Budden 2017-02-22 18:35:51 +00:00 • committed by GitHub
commit e4ae2526e0
12 changed files with 281 additions and 79 deletions
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52
src/main/sensors/acceleration.c
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@ -29,6 +29,7 @@
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/config_reset.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_adxl345.h"
@ -80,6 +81,51 @@ static flightDynamicsTrims_t *accelerationTrims;
static uint16_t accLpfCutHz = 0;
static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
{
#ifdef USE_PARAMETER_GROUPS
RESET_CONFIG_2(rollAndPitchTrims_t, rollAndPitchTrims,
.values.roll = 0,
.values.pitch = 0,
);
#else
rollAndPitchTrims->values.roll = 0;
rollAndPitchTrims->values.pitch = 0;
#endif
}
void accResetRollAndPitchTrims(void)
{
resetRollAndPitchTrims(&accelerometerConfigMutable()->accelerometerTrims);
}
static void resetFlightDynamicsTrims(flightDynamicsTrims_t *accZero)
{
accZero->values.roll = 0;
accZero->values.pitch = 0;
accZero->values.yaw = 0;
}
void accResetFlightDynamicsTrims(void)
{
resetFlightDynamicsTrims(&accelerometerConfigMutable()->accZero);
}
#ifdef USE_PARAMETER_GROUPS
void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
{
RESET_CONFIG_2(accelerometerConfig_t, instance,
.acc_lpf_hz = 15,
.acc_align = ALIGN_DEFAULT,
.acc_hardware = ACC_DEFAULT
);
resetRollAndPitchTrims(&instance->accelerometerTrims);
resetFlightDynamicsTrims(&instance->accZero);
}
#endif
bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware;
@ -305,12 +351,6 @@ static bool isOnFirstAccelerationCalibrationCycle(void)
return calibratingA == CALIBRATING_ACC_CYCLES;
}
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
{
rollAndPitchTrims->values.roll = 0;
rollAndPitchTrims->values.pitch = 0;
}
static void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{
static int32_t a[3];