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Code Issues Wiki Activity

no overrides before sensors are calibrated

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This commit is contained in:
Roman Lut 2022-06-26 21:15:46 +03:00
parent c6fae8d562
commit 37b9bd41ab
3 changed files with 23 additions and 15 deletions
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34
src/main/fc/fc_msp.c
View file

@ -3435,7 +3435,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
LOG_D(SYSTEM, "Simulator enabled"); LOG_D(SYSTEM, "Simulator enabled");
} }
if (dataSize >= 14) { if (dataSize >= 14 && isImuReady()) {
gpsSol.fixType = sbufReadU8(src); gpsSol.fixType = sbufReadU8(src);
gpsSol.hdop = gpsSol.fixType == GPS_NO_FIX ? 9999 : 100; gpsSol.hdop = gpsSol.fixType == GPS_NO_FIX ? 9999 : 100;
gpsSol.flags.hasNewData = true; gpsSol.flags.hasNewData = true;
@ -3463,6 +3463,9 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;// acceleration in 1G units acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;// acceleration in 1G units
acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f; acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
acc.accADCf[Z] = ((int16_t)sbufReadU16(src)) / 1000.0f; acc.accADCf[Z] = ((int16_t)sbufReadU16(src)) / 1000.0f;
acc.accVibeSq[X] = 0;
acc.accVibeSq[Y] = 0;
acc.accVibeSq[Z] = 0;
gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f; gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f; gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
@ -3473,21 +3476,22 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
else { else {
DISABLE_STATE(GPS_FIX); DISABLE_STATE(GPS_FIX);
} }
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_ROLL]);
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_PITCH]);
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_YAW]);
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_THROTTLE]);
simulatorData.debugIndex++;
if (simulatorData.debugIndex == 8){
simulatorData.debugIndex = 0;
}
sbufWriteU8(dst, simulatorData.debugIndex);
sbufWriteU32(dst, debug[simulatorData.debugIndex]);
mspWriteSimulatorOSD(dst);
} }
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_ROLL]);
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_PITCH]);
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_YAW]);
sbufWriteU16(dst, (uint16_t)input[INPUT_STABILIZED_THROTTLE]);
simulatorData.debugIndex++;
if (simulatorData.debugIndex == 8){
simulatorData.debugIndex = 0;
}
sbufWriteU8(dst, simulatorData.debugIndex);
sbufWriteU32(dst, debug[simulatorData.debugIndex]);
mspWriteSimulatorOSD(dst);
*ret = MSP_RESULT_ACK; *ret = MSP_RESULT_ACK;
break; break;
default: default:

2
src/main/sensors/acceleration.c
View file

@ -518,6 +518,8 @@ float accGetMeasuredMaxG(void)
void accUpdate(void) void accUpdate(void)
{ {
if (ARMING_FLAG(SIMULATOR_MODE)) { if (ARMING_FLAG(SIMULATOR_MODE)) {
//output: acc.accADCf
//unused: acc.dev.ADCRaw[], acc.accClipCount, acc.accVibeSq[]
return; return;
} }
if (!acc.dev.readFn(&acc.dev)) { if (!acc.dev.readFn(&acc.dev)) {

2
src/main/sensors/gyro.c
View file

@ -498,6 +498,8 @@ void FAST_CODE NOINLINE gyroFilter()
void FAST_CODE NOINLINE gyroUpdate() void FAST_CODE NOINLINE gyroUpdate()
{ {
if (ARMING_FLAG(SIMULATOR_MODE)) { if (ARMING_FLAG(SIMULATOR_MODE)) {
//output: gyro.gyroADCf[axis]
//unused: dev->gyroADCRaw[], dev->gyroZero[];
return; return;
} }