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Code Issues Wiki Activity

Remove sensor_acceleration.c's dependency on mw.h/board.h.

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In doing so accelerometer sensor and trim code had to be cleaned.
Added a new method to buzzer.c to avoid exposing toggleBeep.
Renamed current_profile to current_profile_index to avoid confusion.
This commit is contained in:
Dominic Clifton 2014-04-22 19:04:51 +01:00
parent 1092fa5b40
commit fbfb75b24a
15 changed files with 293 additions and 190 deletions
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54
src/flight_common.h
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@ -30,16 +30,55 @@ enum {
extern int16_t angle[ANGLE_INDEX_COUNT]; // see angle_index_t
// See http://en.wikipedia.org/wiki/Flight_dynamics
enum {
GI_ROLL = 0,
GI_PITCH,
GI_YAW
} gyro_index_t;
FD_ROLL = 0,
FD_PITCH,
FD_YAW
} flight_dynamics_index_t;
#define GYRO_INDEX_COUNT 3
#define FLIGHT_DYNAMICS_INDEX_COUNT 3
extern int16_t gyroData[GYRO_INDEX_COUNT]; // see gyro_index_t
extern int16_t gyroZero[GYRO_INDEX_COUNT]; // see gyro_index_t
typedef struct fp_vector {
float X;
float Y;
float Z;
} t_fp_vector_def;
typedef union {
float A[3];
t_fp_vector_def V;
} t_fp_vector;
typedef struct fp_angles {
float roll;
float pitch;
float yaw;
} fp_angles_t;
typedef struct int16_flightDynamicsTrims_s {
int16_t roll;
int16_t pitch;
int16_t yaw;
} int16_flightDynamicsTrims_def_t;
typedef union {
int16_t raw[3];
int16_flightDynamicsTrims_def_t trims;
} int16_flightDynamicsTrims_t;
typedef struct rollAndPitchTrims_s {
int16_t roll;
int16_t pitch;
} rollAndPitchTrims_t_def;
typedef union {
int16_t raw[2];
rollAndPitchTrims_t_def trims;
} rollAndPitchTrims_t;
extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT]; // see gyro_index_t
extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT]; // see gyro_index_t
extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
extern int32_t accSum[XYZ_AXIS_COUNT];
@ -49,6 +88,7 @@ extern int16_t heading, magHold;
void mwDisarm(void);
void setPIDController(int type);
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
void resetErrorAngle(void);
void resetErrorGyro(void);