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47 lines
1.6 KiB
C
47 lines
1.6 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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extern int16_t throttleAngleCorrection;
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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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typedef struct imuRuntimeConfig_s {
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uint8_t acc_lpf_factor;
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uint8_t acc_unarmedcal;
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float gyro_cmpf_factor;
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float gyro_cmpfm_factor;
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int8_t small_angle;
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} imuRuntimeConfig_t;
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void configureIMU(
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imuRuntimeConfig_t *initialImuRuntimeConfig,
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pidProfile_t *initialPidProfile,
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accDeadband_t *initialAccDeadband,
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float accz_lpf_cutoff,
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uint16_t throttle_correction_angle
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);
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void calculateEstimatedAltitude(uint32_t currentTime);
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void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
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float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
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int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
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float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
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void accSum_reset(void);
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