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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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36
src/flight_imu.c
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@ -66,8 +66,8 @@ float magneticDeclination = 0.0f; // calculated at startup from config
// **************
// gyro+acc IMU
// **************
int16_t gyroData[GYRO_INDEX_COUNT] = { 0, 0, 0 };
int16_t gyroZero[GYRO_INDEX_COUNT] = { 0, 0, 0 };
int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
int16_t angle[2] = { 0, 0 }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
float anglerad[2] = { 0.0f, 0.0f }; // absolute angle inclination in radians
@ -94,7 +94,7 @@ void computeIMU(void)
gyroGetADC();
if (sensors(SENSOR_ACC)) {
accGetADC();
updateAccelerationReadings(&currentProfile.accelerometerTrims);
getEstimatedAttitude();
} else {
accADC[X] = 0;
@ -103,10 +103,10 @@ void computeIMU(void)
}
if (masterConfig.mixerConfiguration == MULTITYPE_TRI) {
gyroData[GI_YAW] = (gyroYawSmooth * 2 + gyroADC[GI_YAW]) / 3;
gyroYawSmooth = gyroData[GI_YAW];
gyroData[GI_ROLL] = gyroADC[GI_ROLL];
gyroData[GI_PITCH] = gyroADC[GI_PITCH];
gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
gyroYawSmooth = gyroData[FD_YAW];
gyroData[FD_ROLL] = gyroADC[FD_ROLL];
gyroData[FD_PITCH] = gyroADC[FD_PITCH];
} else {
for (axis = 0; axis < 3; axis++)
gyroData[axis] = gyroADC[axis];
@ -127,25 +127,9 @@ void computeIMU(void)
//
// **************************************************
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;
t_fp_vector EstG;
typedef struct fp_angles {
float roll;
float pitch;
float yaw;
} fp_angles_t;
// Normalize a vector
void normalizeV(struct fp_vector *src, struct fp_vector *dest)
{
@ -200,9 +184,9 @@ void rotateAnglesV(struct fp_vector *v, fp_angles_t *delta)
// deprecated - it uses legacy indices for ROLL/PITCH/YAW, see rc_alias_e - use rotateAnglesV instead
void rotateV(struct fp_vector *v, float *delta) {
fp_angles_t temp;
temp.roll = delta[GI_ROLL];
temp.pitch = delta[GI_PITCH];
temp.yaw = delta[GI_YAW];
temp.roll = delta[FD_ROLL];
temp.pitch = delta[FD_PITCH];
temp.yaw = delta[FD_YAW];
rotateAnglesV(v, &temp);
}