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78 lines
2.3 KiB
C
78 lines
2.3 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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typedef enum {
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SENSOR_INDEX_GYRO = 0,
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SENSOR_INDEX_ACC,
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SENSOR_INDEX_BARO,
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SENSOR_INDEX_MAG,
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SENSOR_INDEX_RANGEFINDER,
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SENSOR_INDEX_PITOT,
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SENSOR_INDEX_OPFLOW,
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SENSOR_INDEX_COUNT
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} sensorIndex_e;
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typedef struct int16_flightDynamicsTrims_s {
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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} flightDynamicsTrims_def_t;
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typedef union flightDynamicsTrims_u {
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int16_t raw[3];
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flightDynamicsTrims_def_t values;
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} flightDynamicsTrims_t;
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#define CALIBRATING_BARO_TIME_MS 2000
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#define CALIBRATING_PITOT_TIME_MS 4000
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#define CALIBRATING_GYRO_TIME_MS 2000
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#define CALIBRATING_ACC_TIME_MS 500
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#define CALIBRATING_GYRO_MORON_THRESHOLD 32
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// These bits have to be aligned with sensorIndex_e
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typedef enum {
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SENSOR_GYRO = 1 << 0, // always present
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SENSOR_ACC = 1 << 1,
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SENSOR_BARO = 1 << 2,
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SENSOR_MAG = 1 << 3,
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SENSOR_RANGEFINDER = 1 << 4,
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SENSOR_PITOT = 1 << 5,
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SENSOR_OPFLOW = 1 << 6,
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SENSOR_GPS = 1 << 7,
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SENSOR_GPSMAG = 1 << 8,
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SENSOR_TEMP = 1 << 9
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} sensors_e;
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typedef enum {
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SENSOR_TEMP_CAL_INITIALISE,
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SENSOR_TEMP_CAL_IN_PROGRESS,
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SENSOR_TEMP_CAL_COMPLETE,
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} sensorTempCalState_e;
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typedef struct sensor_compensation_s {
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float correctionFactor;
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float referenceMeasurement;
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int16_t referenceTemp;
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int16_t lastTemp;
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sensorTempCalState_e calibrationState;
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} sensor_compensation_t;
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float applySensorTempCompensation(int16_t sensorTemp, float sensorMeasurement, sensorIndex_e sensorType);
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extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];
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extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
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