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Merge pull request #1832 from martinbudden/bf_config_acctrims 

Moved accelerometerTrims into accelerometerConfig()
This commit is contained in:
J Blackman 2016-12-21 21:35:41 +11:00 committed by GitHub
parent 684660b584 ee8a1676c4
commit a893242d21
11 changed files with 21 additions and 32 deletions
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2
src/main/config/config_master.h
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@ -130,8 +130,6 @@ typedef struct master_s {
imuConfig_t imuConfig;
rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
pidConfig_t pidConfig;
uint8_t debug_mode; // Processing denominator for PID controller vs gyro sampling rate

2
src/main/fc/config.c
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@ -747,7 +747,7 @@ void createDefaultConfig(master_t *config)
resetProfile(&config->profile[0]);
resetRollAndPitchTrims(&config->accelerometerTrims);
resetRollAndPitchTrims(&config->accelerometerConfig.accelerometerTrims);
config->compassConfig.mag_declination = 0;
config->accelerometerConfig.acc_lpf_hz = 10.0f;

8
src/main/fc/fc_msp.c
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@ -908,8 +908,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
sbufWriteU16(dst, masterConfig.accelerometerTrims.values.pitch);
sbufWriteU16(dst, masterConfig.accelerometerTrims.values.roll);
sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.pitch);
sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.roll);
break;
case MSP_UID:
@ -1289,8 +1289,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#endif
break;
case MSP_SET_ACC_TRIM:
masterConfig.accelerometerTrims.values.pitch = sbufReadU16(src);
masterConfig.accelerometerTrims.values.roll = sbufReadU16(src);
accelerometerConfig()->accelerometerTrims.values.pitch = sbufReadU16(src);
accelerometerConfig()->accelerometerTrims.values.roll = sbufReadU16(src);
break;
case MSP_SET_ARMING_CONFIG:
armingConfig()->auto_disarm_delay = sbufReadU8(src);

2
src/main/fc/fc_tasks.c
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@ -91,7 +91,7 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
accUpdate(&accelerometerConfig()->accelerometerTrims);
}
static void taskHandleSerial(timeUs_t currentTimeUs)

6
src/main/fc/mw.c
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@ -103,8 +103,8 @@ float rcInput[3];
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{
masterConfig.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
masterConfig.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
accelerometerConfig()->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
accelerometerConfig()->accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
saveConfigAndNotify();
}
@ -679,7 +679,7 @@ void subTaskPidController(void)
pidController(
&currentProfile->pidProfile,
pidConfig()->max_angle_inclination,
&masterConfig.accelerometerTrims,
&accelerometerConfig()->accelerometerTrims,
rxConfig()->midrc
);
if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}

11
src/main/flight/imu.c
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@ -65,7 +65,6 @@ float fc_acc;
float smallAngleCosZ = 0;
float magneticDeclination = 0.0f; // calculated at startup from config
static bool isAccelUpdatedAtLeastOnce = false;
static imuRuntimeConfig_t imuRuntimeConfig;
static pidProfile_t *pidProfile;
@ -406,17 +405,9 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
}
void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
{
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims);
isAccelUpdatedAtLeastOnce = true;
}
}
void imuUpdateAttitude(timeUs_t currentTimeUs)
{
if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
if (sensors(SENSOR_ACC) && acc.isAccelUpdatedAtLeastOnce) {
imuCalculateEstimatedAttitude(currentTimeUs);
} else {
acc.accSmooth[X] = 0;

3
src/main/flight/imu.h
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@ -98,8 +98,6 @@ void imuConfigure(
float getCosTiltAngle(void);
void calculateEstimatedAltitude(timeUs_t currentTimeUs);
union rollAndPitchTrims_u;
void imuUpdateAccelerometer(union rollAndPitchTrims_u *accelerometerTrims);
void imuUpdateAttitude(timeUs_t currentTimeUs);
float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
@ -109,5 +107,4 @@ union u_fp_vector;
int16_t imuCalculateHeading(union u_fp_vector *vec);
void imuResetAccelerationSum(void);
void imuUpdateAcc(union rollAndPitchTrims_u *accelerometerTrims);
void imuInit(void);

4
src/main/io/serial_cli.c
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@ -884,8 +884,8 @@ const clivalue_t valueTable[] = {
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, &imuConfig()->accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, &imuConfig()->accDeadband.z, .config.minmax = { 0, 100 } },
{ "acc_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &imuConfig()->acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.accelerometerTrims.values.pitch, .config.minmax = { -300, 300 } },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.accelerometerTrims.values.roll, .config.minmax = { -300, 300 } },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accelerometerTrims.values.pitch, .config.minmax = { -300, 300 } },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accelerometerTrims.values.roll, .config.minmax = { -300, 300 } },
#ifdef BARO
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, &barometerConfig()->baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX } },

3
src/main/sensors/acceleration.c
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@ -377,11 +377,12 @@ static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrim
acc.accSmooth[Z] -= accelerationTrims->raw[Z];
}
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims)
{
if (!acc.dev.read(&acc.dev)) {
return;
}
acc.isAccelUpdatedAtLeastOnce = true;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
DEBUG_SET(DEBUG_ACCELEROMETER, axis, acc.dev.ADCRaw[axis]);

4
src/main/sensors/acceleration.h
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@ -39,6 +39,7 @@ typedef struct acc_s {
accDev_t dev;
uint32_t accSamplingInterval;
int32_t accSmooth[XYZ_AXIS_COUNT];
bool isAccelUpdatedAtLeastOnce;
} acc_t;
extern acc_t acc;
@ -59,13 +60,14 @@ typedef struct accelerometerConfig_s {
sensor_align_e acc_align; // acc alignment
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
flightDynamicsTrims_t accZero;
rollAndPitchTrims_t accelerometerTrims;
} accelerometerConfig_t;
bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroTargetLooptime);
bool isAccelerationCalibrationComplete(void);
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims);
union flightDynamicsTrims_u;
void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
void setAccelerationFilter(uint16_t initialAccLpfCutHz);

8
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -837,8 +837,8 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
// Additional commands that are not compatible with MultiWii
case BST_ACC_TRIM:
bstWrite16(masterConfig.accelerometerTrims.values.pitch);
bstWrite16(masterConfig.accelerometerTrims.values.roll);
bstWrite16(accelerometerConfig()->accelerometerTrims.values.pitch);
bstWrite16(accelerometerConfig()->accelerometerTrims.values.roll);
break;
case BST_UID:
@ -1033,8 +1033,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
}
}
case BST_SET_ACC_TRIM:
masterConfig.accelerometerTrims.values.pitch = bstRead16();
masterConfig.accelerometerTrims.values.roll = bstRead16();
accelerometerConfig()->accelerometerTrims.values.pitch = bstRead16();
accelerometerConfig()->accelerometerTrims.values.roll = bstRead16();
break;
case BST_SET_ARMING_CONFIG:
armingConfig()->auto_disarm_delay = bstRead8();