full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB
Conflicts:
src/config.c
src/drivers/accgyro_l3g4200d.c
src/drivers/accgyro_mpu3050.c
src/drivers/accgyro_mpu6050.c
src/flight_imu.c
src/mw.c
src/mw.h
src/serial_cli.c
src/serial_msp.c
src/utils.c
src/utils.h
The old code was using f.ACC_CALIBRATED to mean 'flash the warning led'
and 'prevent arming'
There was another flag called f.OK_TO_ARM which really meant 'prevent
arming after failsafe unless using a switch to arm' - this meant the
comment in the code was incorrect since it did not mention the switch.
There was code which every ~71 minutes would set f.ACC_CALIBRATED to
FALSE and would toggle the LED, even when flying.
There was code that was run during every cycle that did not need to be
run when armed.
There was code that was run during every cycle which did not need to be
run when waiting for calibration to finish.
The warning light was toggled regardless of actual accelerometer
calibration state.
This commit fixes all that and prevents the user from arming after a
failsafe landing until the system is reset, regardless of wether a
switch is used to arm or not.
This commit also flashes the warning led during barometer calibration
and will not let you arm until it has completed.
Add a 5 second delay on startup to failsafe to prevent failsafe from
activating in the case of TX/RX gear with long bind procedures before
they send out valid data.
Failsafe now only prevents re-arming if a landing was forced.
In the case when you power on your RX without your TX on the beeper
sounds and failsafe warning ligts are activated. When the FC then
detects a signal the lights go off and you can then arm.
match the comment from pullrequest about spacing
remains : some hand alignment for comment and wrong /** */ usage.
Conflicts:
src/board.h
src/buzzer.c
src/config.c
src/drivers/serial_common.h
src/drivers/system_common.c
src/drv_gpio.h
src/drv_pwm.c
src/drv_timer.c
src/drv_uart.c
src/flight_imu.c
src/mw.c
src/serial_cli.c
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.
Moved some GPS code from mw.c into gps_common.c.
Moved pid values into a pidProfile_t structure; this was done so that
gps_common.c does not have a dependency on config_profile.h.
pidProfile_t lives in flight_common.h now.
Moved gps profile settings from profile_t into gpsProfile_t for the same
reason.
Removed gps_common.c's dependency on masterConfig_t by passing needed
variables into gpsInit().
