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Merge pull request #5932 from etracer65/gyro_cal_settings

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Make gyro calibration period user configurable and rename moron_threshold
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Michael Keller 2018-05-24 21:13:47 +12:00 • committed by GitHub
commit e605b497e8
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4 changed files with 6 additions and 3 deletions
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3
src/main/sensors/gyro.c
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@ -187,6 +187,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 2);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_align = ALIGN_DEFAULT,
.gyroCalibrationDuration = 125, // 1.25 seconds
.gyroMovementCalibrationThreshold = 48,
.gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
.gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL,
@ -877,7 +878,7 @@ static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static int32_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_TIME_US / gyro.targetLooptime);
return (gyroConfig()->gyroCalibrationDuration * 10000) / gyro.targetLooptime;
}
static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)

2
src/main/sensors/gyro.h
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@ -105,6 +105,8 @@ typedef struct gyroConfig_s {
bool yaw_spin_recovery;
int16_t yaw_spin_threshold;
uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);

1
src/main/sensors/sensors.h
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@ -43,7 +43,6 @@ typedef union flightDynamicsTrims_u {
flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t;
#define CALIBRATING_GYRO_TIME_US 3000000
#define CALIBRATING_ACC_CYCLES 400
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles