added acc_trim stuff into cli
spacing/indentation fixes flyingwing is somewhat supported, reflect that in comment added anti-moron gyro calibration routine... if model is getting moved while its arming... don't calculate gyro avearage because its gonna be wrong... example of fail see here: http://www.rcgroups.com/forums/showthread.php?t=1749966 git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@229 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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obj/baseflight.hex
5113
obj/baseflight.hex
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@ -151,6 +151,8 @@ const clivalue_t valueTable[] = {
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{ "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 },
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{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
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{ "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 },
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{ "acc_trim_pitch", VAR_INT16, &cfg.angleTrim[PITCH], -300, 300 },
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{ "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 },
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{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
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{ "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
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{ "mpu6050_scale", VAR_UINT8, &cfg.mpu6050_scale, 0, 1 },
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23
src/mw.c
23
src/mw.c
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@ -1,7 +1,7 @@
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#include "board.h"
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#include "mw.h"
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// July 2012 V2.1
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// October 2012 V2.1-dev
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flags_t f;
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int16_t debug[4];
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@ -35,20 +35,19 @@ int32_t GPS_coord[2];
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int32_t GPS_home[2];
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int32_t GPS_hold[2];
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uint8_t GPS_numSat;
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uint16_t GPS_distanceToHome; // distance to home point in meters
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int16_t GPS_directionToHome; // direction to home or hol point in degrees
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uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s
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uint16_t GPS_distanceToHome; // distance to home point in meters
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int16_t GPS_directionToHome; // direction to home or hol point in degrees
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uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s
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uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update
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int16_t GPS_angle[2] = { 0, 0 }; // it's the angles that must be applied for GPS correction
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uint16_t GPS_ground_course = 0; // degrees*10
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uint16_t GPS_ground_course = 0; // degrees * 10
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uint8_t GPS_Present = 0; // Checksum from Gps serial
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uint8_t GPS_Enable = 0;
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int16_t nav[2];
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int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
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int8_t nav_mode = NAV_MODE_NONE; // Navigation mode
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//Automatic ACC Offset Calibration
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// **********************
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// Automatic ACC Offset Calibration
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uint16_t InflightcalibratingA = 0;
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int16_t AccInflightCalibrationArmed;
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uint16_t AccInflightCalibrationMeasurementDone = 0;
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@ -56,8 +55,8 @@ uint16_t AccInflightCalibrationSavetoEEProm = 0;
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uint16_t AccInflightCalibrationActive = 0;
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// Battery monitoring stuff
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uint8_t batteryCellCount = 3; // cell count
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uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
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uint8_t batteryCellCount = 3; // cell count
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uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
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void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
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{
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@ -65,7 +64,7 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
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for (r = 0; r < repeat; r++) {
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for (i = 0; i < num; i++) {
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LED0_TOGGLE; // switch LEDPIN state
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LED0_TOGGLE; // switch LEDPIN state
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BEEP_ON;
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delay(wait);
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BEEP_OFF;
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@ -390,9 +389,9 @@ void loop(void)
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}
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}
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for(i = 0; i < 4; i++)
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for (i = 0; i < 4; i++)
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auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2);
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for(i = 0; i < CHECKBOXITEMS; i++)
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for (i = 0; i < CHECKBOXITEMS; i++)
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rcOptions[i] = (auxState & cfg.activate[i]) > 0;
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// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
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5
src/mw.h
5
src/mw.h
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@ -2,7 +2,6 @@
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/* for VBAT monitoring frequency */
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#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
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#define BARO_TAB_SIZE_MAX 48
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#define VERSION 211
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@ -29,13 +28,13 @@ typedef enum MultiType
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MULTITYPE_GIMBAL = 5,
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MULTITYPE_Y6 = 6,
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MULTITYPE_HEX6 = 7,
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MULTITYPE_FLYING_WING = 8, // UNSUPPORTED, do not select!
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MULTITYPE_FLYING_WING = 8,
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MULTITYPE_Y4 = 9,
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MULTITYPE_HEX6X = 10,
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MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
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MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
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MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
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MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter
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MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported)
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MULTITYPE_HELI_120_CCPM = 15,
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MULTITYPE_HELI_90_DEG = 16,
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MULTITYPE_VTAIL4 = 17,
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@ -308,9 +308,11 @@ void Baro_update(void)
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static void GYRO_Common(void)
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{
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int axis;
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static int16_t previousGyroADC[3] = { 0, 0, 0 };
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static int32_t g[3];
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int axis;
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static int16_t gyroMin[3];
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static int16_t gyroMax[3];
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if (calibratingG > 0) {
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for (axis = 0; axis < 3; axis++) {
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@ -319,11 +321,23 @@ static void GYRO_Common(void)
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g[axis] = 0;
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// Sum up 1000 readings
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g[axis] += gyroADC[axis];
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// g[axis] += (1000 - calibratingG) >> 1;
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if (gyroMin[axis] > gyroADC[axis])
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gyroMin[axis] = gyroADC[axis];
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if (gyroMax[axis] < gyroADC[axis])
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gyroMax[axis] = gyroADC[axis];
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// Clear global variables for next reading
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gyroADC[axis] = 0;
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gyroZero[axis] = 0;
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if (calibratingG == 1) {
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int16_t gyroDiff = gyroMax[axis] - gyroMin[axis];
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// check variance and startover if idiot was moving the model
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if (gyroDiff > 10) {
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calibratingG = 1000;
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gyroMin[0] = gyroMin[1] = gyroMin[2] = 0;
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gyroMax[0] = gyroMax[1] = gyroMax[2] = 0;
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g[0] = g[1] = g[2] = 0;
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continue;
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}
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gyroZero[axis] = g[axis] / 1000;
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blinkLED(10, 15, 1);
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}
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