rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2096 from mikeller/add_gyro_calibration_debug 

Added debug output for gyro calibraton noise, increased 'moron_threshold' to 48.
This commit is contained in:
borisbstyle 2017-01-12 11:39:26 +01:00 committed by GitHub
parent 9b2d34b818 a91ff6838f
commit 7a9b30cc7b
2 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/fc/config.c
View File

@ -627,7 +627,7 @@ void createDefaultConfig(master_t *config)
config->boardAlignment.yawDegrees = 0;
config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
config->rcControlsConfig.yaw_control_direction = 1;
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
config->gyroConfig.gyroMovementCalibrationThreshold = 48;
// xxx_hardware: 0:default/autodetect, 1: disable
config->compassConfig.mag_hardware = 1;

5
src/main/sensors/gyro.c
View File

@ -79,6 +79,8 @@ static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3];
#define DEBUG_GYRO_CALIBRATION 3
static const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
@ -367,6 +369,9 @@ static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
if (isOnFinalGyroCalibrationCycle()) {
float dev = devStandardDeviation(&var[axis]);
DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(dev));
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
gyroSetCalibrationCycles();