Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

Fix to acc parameter group reset

Browse source
This commit is contained in:
Martin Budden 2017-01-04 11:09:10 +00:00
parent 1a58b1d4fd
commit dd4d137fbc
3 changed files with 6 additions and 19 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/main/fc/config.c
View file

@ -89,18 +89,6 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static void resetAccelerometerTrims(flightDynamicsTrims_t * accZero, flightDynamicsTrims_t * accGain)
{
accZero->values.pitch = 0;
accZero->values.roll = 0;
accZero->values.yaw = 0;
accGain->values.pitch = 4096;
accGain->values.roll = 4096;
accGain->values.yaw = 4096;
}
void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->P8[ROLL] = 40;
@ -458,8 +446,6 @@ void createDefaultConfig(master_t *config)
config->imuConfig.dcm_ki_mag = 0; // 0.00 * 10000
config->imuConfig.small_angle = 25;
resetAccelerometerTrims(&accelerometerConfig()->accZero, &accelerometerConfig()->accGain);
config->boardAlignment.rollDeciDegrees = 0;
config->boardAlignment.pitchDeciDegrees = 0;
config->boardAlignment.yawDeciDegrees = 0;

9
src/main/sensors/acceleration.c
View file

@ -68,7 +68,7 @@ static uint16_t calibratingA = 0; // the calibration is done is the main lo
static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
PG_REGISTER_PROFILE_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
{
@ -83,11 +83,12 @@ void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
.raw[Z] = 0
);
RESET_CONFIG_2(flightDynamicsTrims_t, &instance->accGain,
.raw[X] = 0,
.raw[Y] = 0,
.raw[Z] = 0
.raw[X] = 4096,
.raw[Y] = 4096,
.raw[Z] = 4096
);
}
static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware = ACC_NONE;

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

@ -53,7 +53,7 @@ typedef struct accelerometerConfig_s {
flightDynamicsTrims_t accGain; // Accelerometer gain to read exactly 1G
} accelerometerConfig_t;
PG_DECLARE_PROFILE(accelerometerConfig_t, accelerometerConfig);
PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
bool accInit(uint32_t accTargetLooptime);
bool isAccelerationCalibrationComplete(void);