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Update the sensors page to show inclination, heading, estimated G and 

the value for small angle.  The latter is to help get field reports to
help with a problem where sometimes the aircraft won't arm because the
FC thinks it's tilted over too much.
This commit is contained in:
Dominic Clifton 2015-02-18 19:29:47 +00:00
parent 8c1d9c37d9
commit e554f73f5c
2 changed files with 37 additions and 6 deletions
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4
src/main/flight/imu.h
View File

@ -21,11 +21,11 @@ extern int16_t throttleAngleCorrection;
extern uint32_t accTimeSum;
extern int accSumCount;
extern float accVelScale;
extern t_fp_vector EstG;
extern int16_t accSmooth[XYZ_AXIS_COUNT];
extern int32_t accSum[XYZ_AXIS_COUNT];
extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
extern int16_t smallAngle;
typedef struct rollAndPitchInclination_s {
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800

39
src/main/io/display.c
View File

@ -35,6 +35,7 @@
#include "common/printf.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/typeconversion.h"
#ifdef DISPLAY
@ -384,20 +385,20 @@ void showBatteryPage(void)
void showSensorsPage(void)
{
uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
static const char *format = "%c = %5d %5d %5d";
static const char *format = "%s %5d %5d %5d";
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(" X Y Z");
if (sensors(SENSOR_ACC)) {
tfp_sprintf(lineBuffer, format, 'A', accSmooth[X], accSmooth[Y], accSmooth[Z]);
tfp_sprintf(lineBuffer, format, "ACC", accSmooth[X], accSmooth[Y], accSmooth[Z]);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
if (sensors(SENSOR_GYRO)) {
tfp_sprintf(lineBuffer, format, 'G', gyroADC[X], gyroADC[Y], gyroADC[Z]);
tfp_sprintf(lineBuffer, format, "GYR", gyroADC[X], gyroADC[Y], gyroADC[Z]);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
@ -405,12 +406,42 @@ void showSensorsPage(void)
#ifdef MAG
if (sensors(SENSOR_MAG)) {
tfp_sprintf(lineBuffer, format, 'M', magADC[X], magADC[Y], magADC[Z]);
tfp_sprintf(lineBuffer, format, "MAG", magADC[X], magADC[Y], magADC[Z]);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
#endif
tfp_sprintf(lineBuffer, format, "I&H", inclination.values.rollDeciDegrees, inclination.values.pitchDeciDegrees, heading);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
uint8_t length;
ftoa(EstG.A[X], lineBuffer);
length = strlen(lineBuffer);
while (length < HALF_SCREEN_CHARACTER_COLUMN_COUNT) {
lineBuffer[length++] = ' ';
lineBuffer[length+1] = 0;
}
ftoa(EstG.A[Y], lineBuffer + length);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
ftoa(EstG.A[Z], lineBuffer);
length = strlen(lineBuffer);
while (length < HALF_SCREEN_CHARACTER_COLUMN_COUNT) {
lineBuffer[length++] = ' ';
lineBuffer[length+1] = 0;
}
ftoa(smallAngle, lineBuffer + length);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
#ifdef ENABLE_DEBUG_OLED_PAGE