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Moved acc accumulation code out of IMU into acc sensor

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This commit is contained in:
Martin Budden 2017-11-28 11:12:04 +00:00
parent 44b76bae97
commit 76efc482d3
4 changed files with 40 additions and 30 deletions
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31
src/main/sensors/acceleration.c
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@ -454,6 +454,37 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
accADC[Z] = (accADC[Z] - accZero->raw[Z]) * accGain->raw[Z] / 4096;
}
#ifdef ASYNC_GYRO_PROCESSING
STATIC_FASTRAM float accumulatedMeasurements[XYZ_AXIS_COUNT];
STATIC_FASTRAM int accumulatedMeasurementCount;
void accUpdateAccumulatedMeasurements(void)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulatedMeasurements[axis] += acc.accADCf[axis];
}
accumulatedMeasurementCount++;
}
#endif
/*
* Calculate measured acceleration in body frame in g
*/
void accGetMeasuredAcceleration(t_fp_vector *measuredAcc)
{
#ifdef ASYNC_GYRO_PROCESSING
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->A[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
accumulatedMeasurements[axis] = 0;
}
accumulatedMeasurementCount = 0;;
#else
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->A[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
}
#endif
}
void accUpdate(void)
{
if (!acc.dev.readFn(&acc.dev)) {