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84 lines
2.5 KiB
C
84 lines
2.5 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "common/axis.h"
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#include "common/time.h"
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#include "config/parameter_group.h"
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// Exported symbols
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extern uint32_t accTimeSum;
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extern int accSumCount;
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extern float accVelScale;
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extern int32_t accSum[XYZ_AXIS_COUNT];
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typedef union {
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int16_t raw[XYZ_AXIS_COUNT];
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struct {
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// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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} values;
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} attitudeEulerAngles_t;
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extern attitudeEulerAngles_t attitude;
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typedef struct accDeadband_s {
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uint8_t xy; // set the acc deadband for xy-Axis
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uint8_t z; // set the acc deadband for z-Axis, this ignores small accelerations
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} accDeadband_t;
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typedef struct imuConfig_s {
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uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
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uint16_t dcm_ki; // DCM filter integral gain ( x 10000)
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uint8_t small_angle;
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uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
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accDeadband_t accDeadband;
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} imuConfig_t;
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PG_DECLARE(imuConfig_t, imuConfig);
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typedef struct imuRuntimeConfig_s {
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float dcm_ki;
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float dcm_kp;
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uint8_t acc_unarmedcal;
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uint8_t small_angle;
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accDeadband_t accDeadband;
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} imuRuntimeConfig_t;
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void imuConfigure(uint16_t throttle_correction_angle);
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float getCosTiltAngle(void);
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void imuUpdateAttitude(timeUs_t currentTimeUs);
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int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
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void imuResetAccelerationSum(void);
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void imuInit(void);
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#ifdef SIMULATOR_BUILD
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void imuSetAttitudeRPY(float roll, float pitch, float yaw); // in deg
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void imuSetAttitudeQuat(float w, float x, float y, float z);
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#if defined(SIMULATOR_IMU_SYNC)
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void imuSetHasNewData(uint32_t dt);
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#endif
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#endif
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