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Code Issues Wiki Activity

Added pidProfile parameter group

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This commit is contained in:
Martin Budden 2017-01-12 10:43:20 +00:00
parent 1e3f5ef06d
commit bf46c4809f
13 changed files with 221 additions and 233 deletions
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9
src/main/flight/imu.c
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@ -87,8 +87,6 @@ attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclinat
static imuRuntimeConfig_t imuRuntimeConfig;
static pidProfile_t *pidProfile;
static float gyroScale;
static bool gpsHeadingInitialized = false;
@ -152,24 +150,21 @@ STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
rMat[2][2] = 1.0f - 2.0f * q1q1 - 2.0f * q2q2;
}
void imuConfigure(pidProfile_t *initialPidProfile)
void imuConfigure(void)
{
imuRuntimeConfig.dcm_kp_acc = imuConfig()->dcm_kp_acc / 10000.0f;
imuRuntimeConfig.dcm_ki_acc = imuConfig()->dcm_ki_acc / 10000.0f;
imuRuntimeConfig.dcm_kp_mag = imuConfig()->dcm_kp_mag / 10000.0f;
imuRuntimeConfig.dcm_ki_mag = imuConfig()->dcm_ki_mag / 10000.0f;
imuRuntimeConfig.small_angle = imuConfig()->small_angle;
pidProfile = initialPidProfile;
}
void imuInit(void)
{
int axis;
smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig.small_angle));
gyroScale = gyro.dev.scale * (M_PIf / 180.0f); // gyro output scaled to rad per second
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
imuAccelInBodyFrame.A[axis] = 0;
}