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Converted to using gyroDev_t and accDev_t as in betaflight

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This commit is contained in:
Martin Budden 2016-12-02 10:25:06 +00:00
parent 6caf2152e8
commit 14ec437311
48 changed files with 291 additions and 275 deletions
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9
src/main/flight/imu.c
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@ -30,7 +30,6 @@
#include "build/build_config.h"
#include "common/axis.h"
#include "common/filter.h"
@ -155,7 +154,7 @@ void imuInit(void)
int axis;
smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig.small_angle));
gyroScale = gyro.scale * (M_PIf / 180.0f); // gyro output scaled to rad per second
gyroScale = gyro.dev.scale * (M_PIf / 180.0f); // gyro output scaled to rad per second
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
imuAccelInBodyFrame.A[axis] = 0;
@ -417,7 +416,7 @@ static int imuCalculateAccelerometerConfidence(void)
}
// Magnitude^2 in percent of G^2
accMagnitude = accMagnitude * 100 / ((int32_t)acc.acc_1G * acc.acc_1G);
accMagnitude = accMagnitude * 100 / ((int32_t)acc.dev.acc_1G * acc.dev.acc_1G);
int32_t nearness = ABS(100 - accMagnitude);
@ -521,7 +520,7 @@ static void imuUpdateMeasuredAcceleration(void)
#else
/* Convert acceleration to cm/s/s */
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
imuAccelInBodyFrame.A[axis] = accADC[axis] * (GRAVITY_CMSS / acc.acc_1G);
imuAccelInBodyFrame.A[axis] = accADC[axis] * (GRAVITY_CMSS / acc.dev.acc_1G);
imuMeasuredGravityBF.A[axis] = imuAccelInBodyFrame.A[axis];
}
#endif
@ -573,7 +572,7 @@ void imuUpdateAccelerometer(void)
#ifdef ASYNC_GYRO_PROCESSING
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
imuAccumulatedAcc[axis] += accADC[axis] * (GRAVITY_CMSS / acc.acc_1G);
imuAccumulatedAcc[axis] += accADC[axis] * (GRAVITY_CMSS / acc.dev.acc_1G);
}
imuAccumulatedAccCount++;
#endif