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Complete decoupling of imu code from config. 

The giant list of unrelated includes is now gone and the dependencies
are now clear.
This commit is contained in:
Dominic Clifton 2014-06-07 02:44:06 +01:00
parent deda79cb14
commit 0b9c326ffe
4 changed files with 6 additions and 46 deletions
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23
src/main/flight/imu.c
View File

@ -37,26 +37,9 @@
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "flight/mixer.h"
// FIXME remove dependency on config.h
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"
#include "flight/failsafe.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "flight/mixer.h"
#include "flight/imu.h"
int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
@ -117,7 +100,7 @@ void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *ini
accDeadband = initialAccDeadband;
}
void computeIMU(rollAndPitchTrims_t *accelerometerTrims)
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration)
{
uint32_t axis;
static int16_t gyroYawSmooth = 0;
@ -132,7 +115,7 @@ void computeIMU(rollAndPitchTrims_t *accelerometerTrims)
accADC[Z] = 0;
}
if (masterConfig.mixerConfiguration == MULTITYPE_TRI) {
if (mixerConfiguration == MULTITYPE_TRI) {
gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
gyroYawSmooth = gyroData[FD_YAW];
gyroData[FD_ROLL] = gyroADC[FD_ROLL];

2
src/main/flight/imu.h
View File

@ -31,6 +31,6 @@ typedef struct imuRuntimeConfig_s {
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband);
int getEstimatedAltitude(void);
void computeIMU(rollAndPitchTrims_t *accelerometerTrims);
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration);
void calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);

2
src/main/mw.c
View File

@ -535,7 +535,7 @@ void loop(void)
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
computeIMU(&currentProfile.accelerometerTrims);
computeIMU(&currentProfile.accelerometerTrims, masterConfig.mixerConfiguration);
annexCode();
// Measure loop rate just afer reading the sensors
currentTime = micros();

25
src/test/unit/flight_imu_unittest.cc
View File

@ -22,9 +22,6 @@
#define BARO
// FIXME this giant list of includes (below) and stubs (bottom) indicates there is too much going on in flight_imu.c and that it needs decoupling and breaking up.
#include "common/axis.h"
#include "flight/flight.h"
@ -35,27 +32,9 @@
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "flight/mixer.h"
// FIXME remove dependency on config.h
#include "sensors/boardalignment.h"
#include "io/battery.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"
#include "flight/failsafe.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "flight/mixer.h"
#include "flight/imu.h"
#include "unittest_macros.h"
@ -104,8 +83,6 @@ TEST(FlightImuTest, IsThrustFacingDownwards)
// STUBS
uint16_t acc_1G;
profile_t currentProfile;
master_t masterConfig;
int16_t heading;
flags_t f;
gyro_t gyro;