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[CALIBRATION] Separate library for zero calibration with variance calculation (time based, with retry); Migrate GYRO and ACC to new calibration; Implement movement threshold for acc calibration to discard shaky measurements

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Konstantin Sharlaimov (DigitalEntity) 2019-01-13 16:19:02 +01:00
parent 96bd8149bc
commit f8017b9d35
11 changed files with 338 additions and 99 deletions
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4
src/main/fc/rc_controls.c
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@ -235,7 +235,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
// GYRO calibration
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
gyroStartCalibration();
return;
}
@ -317,7 +317,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
// Calibrating Acc
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
accStartCalibration();
return;
}