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atbetaflight
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added a fix for roundf() and friends for keil 

added float-based acc lpf, acc_lpf_factor values now changed, its 1/factor now, values 60+ and larger filter heavier.
playing with release MPU6050 hardware, looks like acc1G is fucked, as predicted
bug in serial output (forgot to output armed bit to GUI, estalt is /10)

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@144 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-04-06 02:23:25 +00:00
parent 861b274039
commit 9e5504acd8
8 changed files with 2493 additions and 2478 deletions
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125
baseflight.uvopt
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@ -402,7 +402,7 @@
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@ -457,45 +457,44 @@
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4819
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

3
src/board.h
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@ -1,5 +1,8 @@
#pragma once
// for roundf()
#define __USE_C99_MATH
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>

2
src/cli.c
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@ -110,7 +110,7 @@ const clivalue_t valueTable[] = {
{ "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 32 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },

2
src/drv_mpu6050.c
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@ -164,7 +164,7 @@ static void mpu6050AccInit(void)
// note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
// confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
// seems to be not a problem on MPU6000 lol
acc_1G = 1023;
acc_1G = 512; // 1023;
}
static void mpu6050AccRead(int16_t * accData)

12
src/imu.c
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@ -169,7 +169,7 @@ static void getEstimatedAttitude(void)
#if defined(MG_LPF_FACTOR)
static int16_t mgSmooth[3];
#endif
static int16_t accTemp[3]; //projection of smoothed and normalized magnetic vector on x/y/z axis, as measured by magnetometer
static float accTemp[3]; // projection of smoothed and normalized magnetic vector on x/y/z axis, as measured by magnetometer
static uint32_t previousT;
uint32_t currentT = micros();
float scale, deltaGyroAngle[3];
@ -181,8 +181,10 @@ static void getEstimatedAttitude(void)
for (axis = 0; axis < 3; axis++) {
deltaGyroAngle[axis] = gyroADC[axis] * scale;
if (cfg.acc_lpf_factor > 0) {
accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;
accTemp[axis] = accTemp[axis] * (1.0f - (1.0f / cfg.acc_lpf_factor)) + accADC[axis] * (1.0f / cfg.acc_lpf_factor);
accSmooth[axis] = roundf(accTemp[axis]);
// accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
// accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;
} else {
accSmooth[axis] = accADC[axis];
}
@ -214,8 +216,8 @@ static void getEstimatedAttitude(void)
// To do that, we just skip filter, as EstV already rotated by Gyro
if ((36 < accMag && accMag < 196) || smallAngle25) {
for (axis = 0; axis < 3; axis++) {
int16_t acc = accSmooth[axis];
EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + acc) * INV_GYR_CMPF_FACTOR;
// int16_t acc = accSmooth[axis];
EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accTemp[axis]) * INV_GYR_CMPF_FACTOR;
}
}

4
src/mw.h
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@ -106,8 +106,8 @@ typedef enum MultiType
#define CHECKBOXITEMS 11
#define PIDITEMS 8
#define ACC_ORIENTATION(X, Y, Z) { accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z; }
#define GYRO_ORIENTATION(X, Y, Z) { gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z; }
// #define ACC_ORIENTATION(X, Y, Z) { accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z; }
// #define GYRO_ORIENTATION(X, Y, Z) { gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z; }
#define min(a,b) ((a)<(b)?(a):(b))
#define max(a,b) ((a)>(b)?(a):(b))

4
src/serial.c
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@ -148,7 +148,7 @@ void serialCom(void)
serialize16(gyroData[i]);
for (i = 0; i < 3; i++)
serialize16(magADC[i]);
serialize16(EstAlt);
serialize16(EstAlt / 10);
serialize16(heading); // compass
for (i = 0; i < 8; i++)
serialize16(servo[i]);
@ -157,7 +157,7 @@ void serialCom(void)
for (i = 0; i < 8; i++)
serialize16(rcData[i]);
serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3 | sensors(SENSOR_GPS) << 4);
serialize8(accMode | baroMode << 1 | magMode << 2 | GPSModeHome << 3 | GPSModeHold << 4);
serialize8(accMode | baroMode << 1 | magMode << 2 | GPSModeHome << 3 | GPSModeHold << 4 | armed << 5);
#if defined(LOG_VALUES)
serialize16(cycleTimeMax);
cycleTimeMax = 0;