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beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-14 12:27:26 +00:00
parent edb0ef01b7
commit 1cc306493b
15 changed files with 213 additions and 747 deletions
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5
src/config.c
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@ -159,7 +159,6 @@ void checkFirstTime(bool reset)
static void resetConf(void)
{
int i;
const int8_t default_align[3][3] = { /* GYRO */ { 0, 0, 0 }, /* ACC */ { 0, 0, 0 }, /* MAG */ { -2, -3, 1 } };
// Clear all configuration
memset(&mcfg, 0, sizeof(master_t));
@ -178,7 +177,9 @@ static void resetConf(void)
mcfg.accZero[0] = 0;
mcfg.accZero[1] = 0;
mcfg.accZero[2] = 0;
memcpy(&mcfg.align, default_align, sizeof(mcfg.align));
mcfg.gyro_align = ALIGN_DEFAULT;
mcfg.acc_align = ALIGN_DEFAULT;
mcfg.mag_align = ALIGN_DEFAULT;
mcfg.acc_hardware = ACC_DEFAULT; // default/autodetect
mcfg.moron_threshold = 32;
mcfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y