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Fixed problems with accelerometer.

This commit is contained in:
mikeller 2018-08-20 15:54:29 +12:00
parent 3ee16bd490
commit 6394cc275d
2 changed files with 6 additions and 6 deletions
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10
src/main/flight/imu.c
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@ -355,16 +355,16 @@ STATIC_UNIT_TESTED void imuUpdateEulerAngles(void)
static bool imuIsAccelerometerHealthy(float *accAverage)
{
float accMagnitude = 0;
float accMagnitudeSq = 0;
for (int axis = 0; axis < 3; axis++) {
const float a = accAverage[axis];
accMagnitude += a * a;
accMagnitudeSq += a * a;
}
accMagnitude = sqrtf(accMagnitude) * acc.dev.acc_1G_rec;
accMagnitudeSq = accMagnitudeSq * sq(acc.dev.acc_1G_rec);
// Accept accel readings only in range 0.80g - 1.20g
return (0.80f <= accMagnitude) && (accMagnitude <= 1.20f);
// Accept accel readings only in range 0.9g - 1.1g
return (0.81f < accMagnitudeSq) && (accMagnitudeSq < 1.21f);
}
// Calculate the dcmKpGain to use. When armed, the gain is imuRuntimeConfig.dcm_kp * 1.0 scaling.

2
src/main/sensors/acceleration.c
View File

@ -362,7 +362,7 @@ bool accInit(uint32_t gyroSamplingInverval)
}
acc.dev.acc_1G = 256; // set default
acc.dev.initFn(&acc.dev); // driver initialisation
acc.dev.acc_1G_rec = 1 / acc.dev.acc_1G;
acc.dev.acc_1G_rec = 1.0f / acc.dev.acc_1G;
// set the acc sampling interval according to the gyro sampling interval
switch (gyroSamplingInverval) { // Switch statement kept in place to change acc sampling interval in the future
case 500: