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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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28
src/main/sensors/initialisation.c
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@ -24,6 +24,8 @@
#include "common/axis.h"
#include "config/feature.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "drivers/exti.h"
@ -61,6 +63,7 @@
#include "drivers/sonar_hcsr04.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "sensors/sensors.h"
@ -609,6 +612,19 @@ retry:
}
#endif
#ifdef SONAR
static bool detectSonar(void)
{
if (feature(FEATURE_SONAR)) {
// the user has set the sonar feature, so assume they have an HC-SR04 plugged in,
// since there is no way to detect it
sensorsSet(SENSOR_SONAR);
return true;
}
return false;
}
#endif
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
@ -626,7 +642,8 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
sensorSelectionConfig_t *sensorSelectionConfig,
int16_t magDeclinationFromConfig,
uint8_t gyroLpf,
uint8_t gyroSyncDenominator)
uint8_t gyroSyncDenominator,
const sonarConfig_t *sonarConfig)
{
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
@ -664,6 +681,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
const int16_t deg = magDeclinationFromConfig / 100;
const int16_t min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
compassInit();
}
#else
UNUSED(magDeclinationFromConfig);
@ -673,6 +691,14 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
detectBaro(sensorSelectionConfig->baro_hardware);
#endif
#ifdef SONAR
if (detectSonar()) {
sonarInit(sonarConfig);
}
#else
UNUSED(sonarConfig);
#endif
reconfigureAlignment(sensorAlignmentConfig);
return true;