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atbetaflight
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Merge remote-tracking branch 'multiwii/master' into 

project-structure-alternative

Conflicts:
	src/sensors.c
This commit is contained in:
Dominic Clifton 2014-04-16 17:49:10 +01:00
parent f75f7a7e17 cd08d6d782
commit 3c1ba729b9
5 changed files with 30 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/flight_imu.c
View File

@ -269,10 +269,12 @@ static void getEstimatedAttitude(void)
accMag = accMag * 100 / ((int32_t)acc_1G * acc_1G);
rotateV(&EstG.V, deltaGyroAngle);
if (sensors(SENSOR_MAG))
if (sensors(SENSOR_MAG)) {
rotateV(&EstM.V, deltaGyroAngle);
else
} else {
rotateV(&EstN.V, deltaGyroAngle);
normalizeV(&EstN.V, &EstN.V);
}
// Apply complimentary filter (Gyro drift correction)
// If accel magnitude >1.15G or <0.85G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
@ -311,11 +313,11 @@ static void getEstimatedAttitude(void)
if (cosZ <= 0.015f) { // we are inverted, vertical or with a small angle < 0.86 deg
throttleAngleCorrection = 0;
} else {
} else {
int angle = lrintf(acosf(cosZ) * throttleAngleScale);
if (angle > 900)
angle = 900;
throttleAngleCorrection = lrintf(cfg.throttle_correction_value * sinf(angle / 900.0f * M_PI / 2.0f)) ;
throttleAngleCorrection = lrintf(cfg.throttle_correction_value * sinf(angle / (900.0f * M_PI / 2.0f))) ;
}
}
@ -352,7 +354,7 @@ int getEstimatedAltitude(void)
if (calibratingB > 0) {
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / (cfg.baro_tab_size - 1);
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
vel = 0;
accAlt = 0;

23
src/mw.c
View File

@ -60,11 +60,11 @@ uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
// Automatic ACC Offset Calibration
bool AccInflightCalibrationArmed = false;
bool AccInflightCalibrationMeasurementDone = false;
bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0;
int16_t AccInflightCalibrationArmed;
uint16_t AccInflightCalibrationMeasurementDone = 0;
uint16_t AccInflightCalibrationSavetoEEProm = 0;
uint16_t AccInflightCalibrationActive = 0;
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
{
@ -120,8 +120,8 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t) prop1 *prop2 / 100;
prop1 = 100 - (uint16_t)cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW
if (cfg.yawdeadband) {
if (tmp > cfg.yawdeadband) {
@ -558,8 +558,8 @@ void loop(void)
// Inflight ACC Calibration
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
@ -621,14 +621,15 @@ void loop(void)
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
AccInflightCalibrationArmed = false;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
}
}

2
src/rx_spektrum.c
View File

@ -45,7 +45,7 @@ static void spektrumDataReceive(uint16_t c)
{
uint32_t spekTime;
static uint32_t spekTimeLast, spekTimeInterval;
static uint8_t spekFramePosition;
static uint8_t spekFramePosition;
spekDataIncoming = true;
spekTime = micros();

16
src/sensors_acceleration.c
View File

@ -4,10 +4,10 @@
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
extern uint16_t InflightcalibratingA;
extern int16_t AccInflightCalibrationArmed;
extern uint16_t AccInflightCalibrationMeasurementDone;
extern uint16_t AccInflightCalibrationSavetoEEProm;
extern uint16_t AccInflightCalibrationActive;
extern bool AccInflightCalibrationArmed;
extern bool AccInflightCalibrationMeasurementDone;
extern bool AccInflightCalibrationSavetoEEProm;
extern bool AccInflightCalibrationActive;
void ACC_Common(void)
{
@ -62,8 +62,8 @@ void ACC_Common(void)
}
// all values are measured
if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1;
AccInflightCalibrationActive = false;
AccInflightCalibrationMeasurementDone = true;
toggleBeep = 2; // buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred
mcfg.accZero[ROLL] = accZero_saved[ROLL];
@ -75,8 +75,8 @@ void ACC_Common(void)
InflightcalibratingA--;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm == 1) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = 0;
if (AccInflightCalibrationSavetoEEProm) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = false;
mcfg.accZero[ROLL] = b[ROLL] / 50;
mcfg.accZero[PITCH] = b[PITCH] / 50;
mcfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G

4
stm32_flash.ld
View File

@ -4,7 +4,7 @@
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F103C8 Device with
** 64KByte FLASH, 20KByte RAM
** 128KByte FLASH, 20KByte RAM
**
*****************************************************************************
*/
@ -13,7 +13,7 @@
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = 0x20005000; /* end of 10K RAM */
_estack = 0x20005000; /* end of 20K RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */