Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 06:45:16 +03:00
Code Issues Wiki Activity

Split config_storage.h into config_master.h and config_profile.h to

Browse source 
separate concerns and help reduce and clarify dependencies.

cfg and mcfg are too similarly named and are not obvious.  Renamed cfg
to currentProfile and mcfg to masterConfig.  This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
This commit is contained in:
Dominic Clifton 2014-04-21 23:08:25 +01:00
parent dab04de35e
commit f8d0dd98f7
18 changed files with 677 additions and 672 deletions
Download patch file Download diff file Expand all files Collapse all files

54
src/sensors_acceleration.c
View file

@ -32,16 +32,16 @@ void ACC_Common(void)
a[axis] += accADC[axis];
// Clear global variables for next reading
accADC[axis] = 0;
mcfg.accZero[axis] = 0;
masterConfig.accZero[axis] = 0;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (calibratingA == 1) {
mcfg.accZero[GI_ROLL] = (a[GI_ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[GI_PITCH] = (a[GI_PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[GI_YAW] = (a[GI_YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
cfg.angleTrim[AI_ROLL] = 0;
cfg.angleTrim[AI_PITCH] = 0;
copyCurrentProfileToProfileSlot(mcfg.current_profile);
masterConfig.accZero[GI_ROLL] = (a[GI_ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
masterConfig.accZero[GI_PITCH] = (a[GI_PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
masterConfig.accZero[GI_YAW] = (a[GI_YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
currentProfile.angleTrim[AI_ROLL] = 0;
currentProfile.angleTrim[AI_PITCH] = 0;
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
writeEEPROM(); // write accZero in EEPROM
readEEPROMAndNotify();
}
@ -54,11 +54,11 @@ void ACC_Common(void)
static int16_t angleTrim_saved[2] = { 0, 0 };
// Saving old zeropoints before measurement
if (InflightcalibratingA == 50) {
accZero_saved[GI_ROLL] = mcfg.accZero[GI_ROLL];
accZero_saved[GI_PITCH] = mcfg.accZero[GI_PITCH];
accZero_saved[GI_YAW] = mcfg.accZero[GI_YAW];
angleTrim_saved[AI_ROLL] = cfg.angleTrim[AI_ROLL];
angleTrim_saved[AI_PITCH] = cfg.angleTrim[AI_PITCH];
accZero_saved[GI_ROLL] = masterConfig.accZero[GI_ROLL];
accZero_saved[GI_PITCH] = masterConfig.accZero[GI_PITCH];
accZero_saved[GI_YAW] = masterConfig.accZero[GI_YAW];
angleTrim_saved[AI_ROLL] = currentProfile.angleTrim[AI_ROLL];
angleTrim_saved[AI_PITCH] = currentProfile.angleTrim[AI_PITCH];
}
if (InflightcalibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
@ -69,7 +69,7 @@ void ACC_Common(void)
b[axis] += accADC[axis];
// Clear global variables for next reading
accADC[axis] = 0;
mcfg.accZero[axis] = 0;
masterConfig.accZero[axis] = 0;
}
// all values are measured
if (InflightcalibratingA == 1) {
@ -77,31 +77,31 @@ void ACC_Common(void)
AccInflightCalibrationMeasurementDone = true;
toggleBeep = 2; // buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred
mcfg.accZero[GI_ROLL] = accZero_saved[GI_ROLL];
mcfg.accZero[GI_PITCH] = accZero_saved[GI_PITCH];
mcfg.accZero[GI_YAW] = accZero_saved[GI_YAW];
cfg.angleTrim[AI_ROLL] = angleTrim_saved[AI_ROLL];
cfg.angleTrim[AI_PITCH] = angleTrim_saved[AI_PITCH];
masterConfig.accZero[GI_ROLL] = accZero_saved[GI_ROLL];
masterConfig.accZero[GI_PITCH] = accZero_saved[GI_PITCH];
masterConfig.accZero[GI_YAW] = accZero_saved[GI_YAW];
currentProfile.angleTrim[AI_ROLL] = angleTrim_saved[AI_ROLL];
currentProfile.angleTrim[AI_PITCH] = angleTrim_saved[AI_PITCH];
}
InflightcalibratingA--;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = false;
mcfg.accZero[GI_ROLL] = b[GI_ROLL] / 50;
mcfg.accZero[GI_PITCH] = b[GI_PITCH] / 50;
mcfg.accZero[GI_YAW] = b[GI_YAW] / 50 - acc_1G; // for nunchuk 200=1G
cfg.angleTrim[AI_ROLL] = 0;
cfg.angleTrim[AI_PITCH] = 0;
copyCurrentProfileToProfileSlot(mcfg.current_profile);
masterConfig.accZero[GI_ROLL] = b[GI_ROLL] / 50;
masterConfig.accZero[GI_PITCH] = b[GI_PITCH] / 50;
masterConfig.accZero[GI_YAW] = b[GI_YAW] / 50 - acc_1G; // for nunchuk 200=1G
currentProfile.angleTrim[AI_ROLL] = 0;
currentProfile.angleTrim[AI_PITCH] = 0;
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
writeEEPROM(); // write accZero in EEPROM
readEEPROMAndNotify();
}
}
accADC[GI_ROLL] -= mcfg.accZero[GI_ROLL];
accADC[GI_PITCH] -= mcfg.accZero[GI_PITCH];
accADC[GI_YAW] -= mcfg.accZero[GI_YAW];
accADC[GI_ROLL] -= masterConfig.accZero[GI_ROLL];
accADC[GI_PITCH] -= masterConfig.accZero[GI_PITCH];
accADC[GI_YAW] -= masterConfig.accZero[GI_YAW];
}
void ACC_getADC(void)