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
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
Currently port usage is hard-coded to the default port layout, cli
commands are coming in a future commit.
This decouples all code from the global 'serialPorts' structure which
has been removed. Any code that needs to use a serial port can use
findOpenSerialPort() and openSerialPort() and maintain it's own
reference to the port.
Ports can switch between functions. e.g. by default
cli/msp/telemetry/gps
passthrough all use USART1. Each port maintains it's current function.
see begin/endSerialPortFunction.
There are only certain combinations of serial port functions that are
supported, these are listed in serialPortFunctionScenario_e.
This commit also adds a few 'static' keywords to variables that should
have been.
There a a few other minor fixes and tweaks to various bits of code that
this uncovered too.
This is a large commit, from the commit it is clear that the mixer has
many dependencies, this is expected since it is central to the
application.
To achieve the decoupling many master config and profile members had to
be moved into structures.
Relocated throttle/pitch curves into rc_curves.c/h since it has nothing
to with rx code, this fixed the dependencies inside the rx provider
files.
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().
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.
each. relocated acc_t/gyro_t from sensors_common.h into
drivers/accgyro_common.h since they define an interface and the
dependency was pointing the wrong way from the drivers.
baro_t/acc_t/gyro_t dependences are all now pointing the right way.
of determining a revision code. Previously there was mpu6050 specific
code in cli.c (the status command).
Finally this commit has removed all non-serial port configuration
settings from core_t so that a future commit can refactor core_t to
reduce dependencies on serial port code.
In doing this I also noted from other source code that the MPU6050
accelerometer trim for some revisions appeared to be incorrectly set to
255 * 8 instead of 256 * 8.
remove dependency on board.h and mw.h on a few files.
Moved rx configuration paramaters into rxConfig in order to remove the
dependency on config_t from the sbus rx code - sumd/spektrum to follow.
Avoided use of YAW/PITCH/ROLL in some files since those constants are
from an unrelated enum type.
Replaced some magic numbers with constants to remove comments and
improve code readability.
Note, due to the tight coupling and global variable usage it was
difficult to create a smaller commit.
clear what all gpio/ledring drivers need to compile and what was
unnecessarily included before.
In attempting this it was clear that ledring had a dependency on the
multiwii code, this was removed by passing the led status update method
the values it needs.
It also turned out that the ROLL/PITCH defines were coming from
rc_alias_e and much unrelated code is coupled to these defines. This
commit also includes some cleanups relating to that problem.
