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Code Issues Wiki Activity

Added imuConfig parameter group

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This commit is contained in:
Martin Budden 2017-01-11 17:50:38 +00:00
parent 2464b8602e
commit 10a0c8655f
6 changed files with 44 additions and 35 deletions
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43
src/main/flight/imu.c
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@ -23,27 +23,22 @@
#include "common/maths.h"
#include "build/build_config.h"
#include "platform.h"
#include "build/debug.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/filter.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/system.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
@ -51,6 +46,13 @@
#include "io/gps.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
/**
* In Cleanflight accelerometer is aligned in the following way:
* X-axis = Forward
@ -91,6 +93,17 @@ static float gyroScale;
static bool gpsHeadingInitialized = false;
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
.dcm_kp_acc = 2500, // 0.25 * 10000
.dcm_ki_acc = 50, // 0.005 * 10000
.dcm_kp_mag = 10000, // 1.00 * 10000
.dcm_ki_mag = 0, // 0.00 * 10000
.small_angle = 25
);
#ifdef ASYNC_GYRO_PROCESSING
/* Asynchronous update accumulators */
static float imuAccumulatedRate[XYZ_AXIS_COUNT];
@ -139,13 +152,13 @@ STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
rMat[2][2] = 1.0f - 2.0f * q1q1 - 2.0f * q2q2;
}
void imuConfigure(imuConfig_t *imuConfig, pidProfile_t *initialPidProfile)
void imuConfigure(pidProfile_t *initialPidProfile)
{
imuRuntimeConfig.dcm_kp_acc = imuConfig->dcm_kp_acc / 10000.0f;
imuRuntimeConfig.dcm_ki_acc = imuConfig->dcm_ki_acc / 10000.0f;
imuRuntimeConfig.dcm_kp_mag = imuConfig->dcm_kp_mag / 10000.0f;
imuRuntimeConfig.dcm_ki_mag = imuConfig->dcm_ki_mag / 10000.0f;
imuRuntimeConfig.small_angle = imuConfig->small_angle;
imuRuntimeConfig.dcm_kp_acc = imuConfig()->dcm_kp_acc / 10000.0f;
imuRuntimeConfig.dcm_ki_acc = imuConfig()->dcm_ki_acc / 10000.0f;
imuRuntimeConfig.dcm_kp_mag = imuConfig()->dcm_kp_mag / 10000.0f;
imuRuntimeConfig.dcm_ki_mag = imuConfig()->dcm_ki_mag / 10000.0f;
imuRuntimeConfig.small_angle = imuConfig()->small_angle;
pidProfile = initialPidProfile;
}