From 12dfa8915d2821a6114e8ce6842da4a732e2eb5a Mon Sep 17 00:00:00 2001
From: "timecop@gmail.com"
 <timecop@gmail.com@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Sat, 27 Oct 2012 07:34:45 +0000
Subject: [PATCH] slight improvement to motion threshold calculation

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@234 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
---
 baseflight.uvproj  |   31 +-
 obj/baseflight.hex | 6276 ++++++++++++++++++++++----------------------
 src/sensors.c      |   58 +-
 3 files changed, 3205 insertions(+), 3160 deletions(-)

diff --git a/baseflight.uvproj b/baseflight.uvproj
index e2190174b..378859f85 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -12,14 +12,14 @@
       <ToolsetName>ARM-ADS</ToolsetName>
       <TargetOption>
         <TargetCommonOption>
-          <Device>STM32F103C8</Device>
+          <Device>STM32F103CB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
+          <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x801FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile>"STARTUP\ST\STM32F10x\startup_stm32f10x_md.s" ("STM32 Medium Density Line Startup Code")</StartupFile>
-          <FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)</FlashDriverDll>
-          <DeviceId>4235</DeviceId>
-          <RegisterFile>stm32f10x_md.h</RegisterFile>
+          <FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000)</FlashDriverDll>
+          <DeviceId>4401</DeviceId>
+          <RegisterFile>stm32f10x.h</RegisterFile>
           <MemoryEnv></MemoryEnv>
           <Cmp></Cmp>
           <Asm></Asm>
@@ -29,7 +29,7 @@
           <SLE66CMisc></SLE66CMisc>
           <SLE66AMisc></SLE66AMisc>
           <SLE66LinkerMisc></SLE66LinkerMisc>
-          <SFDFile>SFD\ST\STM32F10xx\STM32F10xxB.sfr</SFDFile>
+          <SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
           <UseEnv>0</UseEnv>
           <BinPath></BinPath>
           <IncludePath></IncludePath>
@@ -102,11 +102,11 @@
           <SimDllName>SARMCM3.DLL</SimDllName>
           <SimDllArguments></SimDllArguments>
           <SimDlgDll>DARMSTM.DLL</SimDlgDll>
-          <SimDlgDllArguments>-pSTM32F103C8</SimDlgDllArguments>
+          <SimDlgDllArguments>-pSTM32F103CB</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
           <TargetDllArguments></TargetDllArguments>
           <TargetDlgDll>TARMSTM.DLL</TargetDlgDll>
-          <TargetDlgDllArguments>-pSTM32F103C8</TargetDlgDllArguments>
+          <TargetDlgDllArguments>-pSTM32F103CB</TargetDlgDllArguments>
         </DllOption>
         <DebugOption>
           <OPTHX>
@@ -136,6 +136,7 @@
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>0</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
+            <RestoreTracepoints>0</RestoreTracepoints>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
           <TargetSelection>1</TargetSelection>
@@ -165,7 +166,7 @@
             <DriverSelection>4096</DriverSelection>
           </Flash1>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3>"" ()</Flash3>
+          <Flash3></Flash3>
           <Flash4></Flash4>
         </Utilities>
         <TargetArmAds>
@@ -271,7 +272,7 @@
               <IROM>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
-                <Size>0x10000</Size>
+                <Size>0x20000</Size>
               </IROM>
               <XRAM>
                 <Type>0</Type>
@@ -296,7 +297,7 @@
               <OCR_RVCT4>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
-                <Size>0x10000</Size>
+                <Size>0x20000</Size>
               </OCR_RVCT4>
               <OCR_RVCT5>
                 <Type>1</Type>
@@ -823,7 +824,7 @@
           <StartupFile>"STARTUP\ST\STM32F10x\startup_stm32f10x_md.s" ("STM32 Medium Density Line Startup Code")</StartupFile>
           <FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)</FlashDriverDll>
           <DeviceId>4235</DeviceId>
-          <RegisterFile>stm32f10x_md.h</RegisterFile>
+          <RegisterFile>stm32f10x.h</RegisterFile>
           <MemoryEnv></MemoryEnv>
           <Cmp></Cmp>
           <Asm></Asm>
@@ -833,7 +834,7 @@
           <SLE66CMisc></SLE66CMisc>
           <SLE66AMisc></SLE66AMisc>
           <SLE66LinkerMisc></SLE66LinkerMisc>
-          <SFDFile>SFD\ST\STM32F10xx\STM32F10xxB.sfr</SFDFile>
+          <SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfrSVD=SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
           <UseEnv>0</UseEnv>
           <BinPath></BinPath>
           <IncludePath></IncludePath>
@@ -940,6 +941,7 @@
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>0</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
+            <RestoreTracepoints>0</RestoreTracepoints>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
           <TargetSelection>1</TargetSelection>
@@ -969,7 +971,7 @@
             <DriverSelection>4096</DriverSelection>
           </Flash1>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3>"" ()</Flash3>
+          <Flash3></Flash3>
           <Flash4></Flash4>
         </Utilities>
         <TargetArmAds>
@@ -1688,6 +1690,7 @@
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>0</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
+            <RestoreTracepoints>0</RestoreTracepoints>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
           <TargetSelection>1</TargetSelection>
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 740f761e3..02cf4317d 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,3141 +1,3149 @@
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diff --git a/src/sensors.c b/src/sensors.c
index 3e6078f52..73645139e 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -306,35 +306,69 @@ void Baro_update(void)
 }
 #endif /* BARO */
 
+typedef struct stdev_t
+{
+    float m_oldM, m_newM, m_oldS, m_newS;
+    int m_n;
+} stdev_t;
+
+static void devClear(stdev_t *dev)
+{
+    dev->m_n = 0;
+}
+
+static void devPush(stdev_t *dev, float x)
+{
+    dev->m_n++;
+    if (dev->m_n == 1) {
+        dev->m_oldM = dev->m_newM = x;
+        dev->m_oldS = 0.0f;
+    } else {
+        dev->m_newM = dev->m_oldM + (x - dev->m_oldM) / dev->m_n;
+        dev->m_newS = dev->m_oldS + (x - dev->m_oldM) * (x - dev->m_newM);
+        dev->m_oldM = dev->m_newM;
+        dev->m_oldS = dev->m_newS;
+    }
+}
+
+static float devVariance(stdev_t *dev)
+{
+    return ((dev->m_n > 1) ? dev->m_newS / (dev->m_n - 1) : 0.0f);
+}
+
+static float devStandardDeviation(stdev_t *dev)
+{
+    return sqrtf(devVariance(dev));
+}
+
 static void GYRO_Common(void)
 {
     int axis;
     static int16_t previousGyroADC[3] = { 0, 0, 0 };
     static int32_t g[3];
-    static int16_t gyroMin[3];
-    static int16_t gyroMax[3];
+    static stdev_t var[3];
 
     if (calibratingG > 0) {
         for (axis = 0; axis < 3; axis++) {
             // Reset g[axis] at start of calibration
-            if (calibratingG == 1000)
+            if (calibratingG == 1000) {
                 g[axis] = 0;
+                devClear(&var[axis]);
+            }
             // Sum up 1000 readings
             g[axis] += gyroADC[axis];
-            if (gyroMin[axis] > gyroADC[axis])
-                gyroMin[axis] = gyroADC[axis];
-            if (gyroMax[axis] < gyroADC[axis])
-                gyroMax[axis] = gyroADC[axis];
+            devPush(&var[axis], gyroADC[axis]);
             // Clear global variables for next reading
             gyroADC[axis] = 0;
             gyroZero[axis] = 0;
             if (calibratingG == 1) {
-                int16_t gyroDiff = gyroMax[axis] - gyroMin[axis];
-                // check variance and startover if idiot was moving the model
-                if (cfg.moron_threshold && gyroDiff > cfg.moron_threshold) {
+                float dev = devStandardDeviation(&var[axis]);
+                // check deviation and startover if idiot was moving the model
+                if (cfg.moron_threshold && dev > cfg.moron_threshold) {
                     calibratingG = 1000;
-                    gyroMin[0] = gyroMin[1] = gyroMin[2] = 0;
-                    gyroMax[0] = gyroMax[1] = gyroMax[2] = 0;
+                    devClear(&var[0]);
+                    devClear(&var[1]);
+                    devClear(&var[2]);
                     g[0] = g[1] = g[2] = 0;
                     continue;
                 }