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Fixed CONFIG_FASTLOOP_PREFERRED_ACC related magic numbers

This commit is contained in:
Martin Budden 2016-06-11 07:17:11 +01:00
parent efda3d7b5b
commit 91e7c160a3
16 changed files with 37 additions and 39 deletions
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43
src/main/io/serial_msp.c
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@ -103,7 +103,6 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // FIXME dependency on mw.c extern uint16_t rssi; // FIXME dependency on mw.c
extern void resetPidProfile(pidProfile_t *pidProfile); extern void resetPidProfile(pidProfile_t *pidProfile);
void setGyroSamplingSpeed(uint16_t looptime) { void setGyroSamplingSpeed(uint16_t looptime) {
uint16_t gyroSampleRate = 1000; uint16_t gyroSampleRate = 1000;
uint8_t maxDivider = 1; uint8_t maxDivider = 1;
@ -116,43 +115,44 @@ void setGyroSamplingSpeed(uint16_t looptime) {
gyroSampleRate = 125; gyroSampleRate = 125;
maxDivider = 8; maxDivider = 8;
masterConfig.pid_process_denom = 1; masterConfig.pid_process_denom = 1;
masterConfig.acc_hardware = 0; masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = 0; masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = 0; masterConfig.mag_hardware = MAG_DEFAULT;
if (looptime < 250) { if (looptime < 250) {
masterConfig.acc_hardware = 1; masterConfig.acc_hardware = ACC_NONE;
masterConfig.baro_hardware = 1; masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = 1; masterConfig.mag_hardware = MAG_NONE;
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;
} else if (looptime < 375) { } else if (looptime < 375) {
masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC; masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
masterConfig.acc_hardware = 1; masterConfig.baro_hardware = BARO_NONE;
masterConfig.baro_hardware = 1; masterConfig.mag_hardware = MAG_NONE;
masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;
} }
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider); masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else { } else {
masterConfig.gyro_lpf = 0; masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8; masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0; masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = 0; masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = 0; masterConfig.mag_hardware = MAG_DEFAULT;
} }
#else #else
if (looptime < 1000) { if (looptime < 1000) {
masterConfig.gyro_lpf = 0; masterConfig.gyro_lpf = 0;
masterConfig.acc_hardware = 1; masterConfig.acc_hardware = ACC_NONE;
masterConfig.baro_hardware = 1; masterConfig.baro_hardware = BARO_NONE;
masterConfig.mag_hardware = 1; masterConfig.mag_hardware = MAG_NONE;
gyroSampleRate = 125; gyroSampleRate = 125;
maxDivider = 8; maxDivider = 8;
masterConfig.pid_process_denom = 1; masterConfig.pid_process_denom = 1;
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2; if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
masterConfig.pid_process_denom = 2;
}
if (looptime < 250) { if (looptime < 250) {
masterConfig.pid_process_denom = 4; masterConfig.pid_process_denom = 4;
} else if (looptime < 375) { } else if (looptime < 375) {
if (currentProfile->pidProfile.pidController == 2) { if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
masterConfig.pid_process_denom = 3; masterConfig.pid_process_denom = 3;
} else { } else {
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;
@ -161,11 +161,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider); masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
} else { } else {
masterConfig.gyro_lpf = 0; masterConfig.gyro_lpf = 0;
masterConfig.gyro_sync_denom = 8; masterConfig.gyro_sync_denom = 8;
masterConfig.acc_hardware = 0; masterConfig.acc_hardware = ACC_DEFAULT;
masterConfig.baro_hardware = 0; masterConfig.baro_hardware = BARO_DEFAULT;
masterConfig.mag_hardware = 0; masterConfig.mag_hardware = MAG_DEFAULT;
masterConfig.pid_process_denom = 1; masterConfig.pid_process_denom = 1;
} }
#endif #endif

3
src/main/target/ALIENFLIGHTF3/target.h
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@ -20,7 +20,8 @@
#define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3. #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
#define ALIENFLIGHT #define ALIENFLIGHT
#define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define USE_HARDWARE_REVISION_DETECTION #define USE_HARDWARE_REVISION_DETECTION
#define HW_PIN PB2 #define HW_PIN PB2

2
src/main/target/CHEBUZZF3/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3 #define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#define LED0 PE8 // Blue LEDs - PE8/PE12 #define LED0 PE8 // Blue LEDs - PE8/PE12
#define LED0_INVERTED #define LED0_INVERTED

2
src/main/target/COLIBRI_RACE/target.h
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@ -21,7 +21,7 @@
#define BST_DEVICE_NAME "COLIBRI RACE" #define BST_DEVICE_NAME "COLIBRI RACE"
#define BST_DEVICE_NAME_LENGTH 12 #define BST_DEVICE_NAME_LENGTH 12
#define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define LED0 PC15 #define LED0 PC15
#define LED1 PC14 #define LED1 PC14

2
src/main/target/DOGE/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "DOGE" #define TARGET_BOARD_IDENTIFIER "DOGE"
#define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
// tqfp48 pin 34 // tqfp48 pin 34
#define LED0 PA13 #define LED0 PA13

2
src/main/target/FURYF3/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "FURY" #define TARGET_BOARD_IDENTIFIER "FURY"
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define MPU_INT_EXTI PC4 #define MPU_INT_EXTI PC4
#define USE_EXTI #define USE_EXTI

2
src/main/target/LUX_RACE/target.h
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@ -20,7 +20,7 @@
#define TARGET_BOARD_IDENTIFIER "LUX" #define TARGET_BOARD_IDENTIFIER "LUX"
#define BOARD_HAS_VOLTAGE_DIVIDER #define BOARD_HAS_VOLTAGE_DIVIDER
#define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define LED0 PC15 #define LED0 PC15
#define LED1 PC14 #define LED1 PC14

2
src/main/target/MOTOLAB/target.h
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@ -20,7 +20,7 @@
#define TARGET_BOARD_IDENTIFIER "MOTO" // MotoLab #define TARGET_BOARD_IDENTIFIER "MOTO" // MotoLab
#define USE_CLI #define USE_CLI
#define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define LED0 PB5 // Blue LEDs - PB5 #define LED0 PB5 // Blue LEDs - PB5
//#define LED1 PB9 // Green LEDs - PB9 //#define LED1 PB9 // Green LEDs - PB9

2
src/main/target/NAZE32PRO/target.h
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@ -17,7 +17,7 @@
#define TARGET_BOARD_IDENTIFIER "AFF3" // AFro F3 #define TARGET_BOARD_IDENTIFIER "AFF3" // AFro F3
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#pragma once #pragma once

2
src/main/target/REVO/target.h
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@ -19,8 +19,6 @@
#define TARGET_BOARD_IDENTIFIER "REVO" #define TARGET_BOARD_IDENTIFIER "REVO"
#define CONFIG_FASTLOOP_PREFERRED_ACC 1
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8) #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
#define CONFIG_SERIALRX_PROVIDER SERIALRX_SBUS #define CONFIG_SERIALRX_PROVIDER SERIALRX_SBUS
#define CONFIG_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH #define CONFIG_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH

2
src/main/target/SINGULARITY/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "SING" #define TARGET_BOARD_IDENTIFIER "SING"
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#define LED0 PB3 #define LED0 PB3

2
src/main/target/SPARKY/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "SPKY" // SParKY #define TARGET_BOARD_IDENTIFIER "SPKY" // SParKY
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#define LED0 PB4 // Blue (Rev 1 & 2) - PB4 #define LED0 PB4 // Blue (Rev 1 & 2) - PB4
#define LED1 PB5 // Green (Rev 1) / Red (Rev 2) - PB5 #define LED1 PB5 // Green (Rev 1) / Red (Rev 2) - PB5

2
src/main/target/SPRACINGF3/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "SRF3" #define TARGET_BOARD_IDENTIFIER "SRF3"
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#define LED0 PB3 #define LED0 PB3

2
src/main/target/SPRACINGF3EVO/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "SPEV" #define TARGET_BOARD_IDENTIFIER "SPEV"
#define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define LED0 PB8 #define LED0 PB8

2
src/main/target/SPRACINGF3MINI/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "SRFM" #define TARGET_BOARD_IDENTIFIER "SRFM"
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
// early prototype had slightly different pin mappings. // early prototype had slightly different pin mappings.
//#define SPRACINGF3MINI_MKII_REVA //#define SPRACINGF3MINI_MKII_REVA

2
src/main/target/STM32F3DISCOVERY/target.h
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@ -19,7 +19,7 @@
#define TARGET_BOARD_IDENTIFIER "SDF3" // STM Discovery F3 #define TARGET_BOARD_IDENTIFIER "SDF3" // STM Discovery F3
#define CONFIG_FASTLOOP_PREFERRED_ACC 1 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#define LED0 PE8 // Blue LEDs - PE8/PE12 #define LED0 PE8 // Blue LEDs - PE8/PE12
#define LED0_INVERTED #define LED0_INVERTED