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Code Issues Wiki Activity

Merge pull request #1498 from borisbstyle/gyro_sync_rework

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Gyro Sync feature (Loop synced to Gyro)
This commit is contained in:
Dominic Clifton 2015-12-22 09:40:09 +01:00
commit 79144e9689
25 changed files with 238 additions and 75 deletions
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19
src/main/io/serial_cli.c
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@ -153,7 +153,7 @@ static char cliBuffer[48];
static uint32_t bufferIndex = 0;
#ifndef USE_QUAD_MIXER_ONLY
// sync this with mixerMode_e
// this with mixerMode_e
static const char * const mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6",
@ -351,6 +351,15 @@ static const char * const lookupTableGyroFilter[] = {
"OFF", "LOW", "MEDIUM", "HIGH"
};
static const char * const lookupTableGyroLpf[] = {
"256HZ",
"188HZ",
"98HZ",
"42HZ",
"20HZ",
"10HZ"
};
typedef struct lookupTableEntry_s {
const char * const *values;
@ -373,6 +382,7 @@ typedef enum {
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX,
TABLE_GYRO_FILTER,
TABLE_GYRO_LPF,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -390,7 +400,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
{ lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) }
{ lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) },
{ lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) }
};
#define VALUE_TYPE_OFFSET 0
@ -446,6 +457,8 @@ const clivalue_t valueTable[] = {
{ "looptime", VAR_UINT16 | MASTER_VALUE, &masterConfig.looptime, .config.minmax = {0, 9000} },
{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.emf_avoidance, .config.lookup = { TABLE_OFF_ON } },
{ "i2c_overclock", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.i2c_overclock, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_sync", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyroSync, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroSyncDenominator, .config.minmax = { 1, 32 } },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 } },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
@ -532,7 +545,7 @@ const clivalue_t valueTable[] = {
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
{ "gyro_lpf", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_lpf, .config.minmax = { 0, 256 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 20000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 20000 } },