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Code Issues Wiki Activity

Tidied initialisation, especially PID filters

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This commit is contained in:
Martin Budden 2016-11-23 14:09:08 +00:00
parent 81f6a1886a
commit e9407f3065
11 changed files with 82 additions and 44 deletions
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23
src/main/main.c
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@ -421,7 +421,8 @@ void init(void)
&masterConfig.sensorSelectionConfig,
masterConfig.compassConfig.mag_declination,
masterConfig.gyro_lpf,
masterConfig.gyro_sync_denom)) {
masterConfig.gyro_sync_denom,
&masterConfig.sonarConfig)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
@ -443,10 +444,9 @@ void init(void)
LED0_OFF;
LED1_OFF;
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
// gyro.targetLooptime set in sensorsAutodetect(), so we are ready to call pidSetTargetLooptime()
pidSetTargetLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
pidInitFilters(&currentProfile->pidProfile);
imuInit();
@ -478,12 +478,6 @@ void init(void)
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(&masterConfig.sonarConfig);
}
#endif
#ifdef LED_STRIP
ledStripInit(&masterConfig.ledStripConfig);
@ -537,13 +531,6 @@ void init(void)
}
#endif
if (masterConfig.gyro_lpf > 0 && masterConfig.gyro_lpf < 7) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyro_sync_denom = 1;
}
setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
initBlackbox();
#endif