made gyrodiff for motion detection configurable, 0 = disabled

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@230 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -159,6 +159,7 @@ const clivalue_t valueTable[] = {
     { "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
     { "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
     { "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 },
+    { "moron_threshold", VAR_UINT8, &cfg.moron_threshold, 0, 128 },
     { "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
     { "gps_type", VAR_UINT8, &cfg.gps_type, 0, 3 },
     { "gps_pos_p", VAR_UINT8, &cfg.P8[PIDPOS], 0, 200 },

src/config.c

@@ -12,7 +12,7 @@
 config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
-static uint8_t EEPROM_CONF_VERSION = 33;
+static uint8_t EEPROM_CONF_VERSION = 34;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 
@@ -187,6 +187,7 @@ static void resetConf(void)
     cfg.baro_tab_size = 21;
     cfg.baro_noise_lpf = 0.6f;
     cfg.baro_cf = 0.985f;
+    cfg.moron_threshold = 32;
     cfg.gyro_smoothing_factor = 0x00141403;     // default factors of 20, 20, 3 for R/P/Y
     cfg.vbatscale = 110;
     cfg.vbatmaxcellvoltage = 43;

src/mw.h

@@ -158,6 +158,7 @@ typedef struct config_t {
     uint8_t baro_tab_size;                  // size of baro filter array
     float baro_noise_lpf;                   // additional LPF to reduce baro noise
     float baro_cf;                          // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
+    uint8_t moron_threshold;                // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 
     uint16_t activate[CHECKBOXITEMS];       // activate switches
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value

src/sensors.c

@@ -331,7 +331,7 @@ static void GYRO_Common(void)
             if (calibratingG == 1) {
                 int16_t gyroDiff = gyroMax[axis] - gyroMin[axis];
                 // check variance and startover if idiot was moving the model
-                if (gyroDiff > 10) {
+                if (cfg.moron_threshold && gyroDiff > cfg.moron_threshold) {
                     calibratingG = 1000;
                     gyroMin[0] = gyroMin[1] = gyroMin[2] = 0;
                     gyroMax[0] = gyroMax[1] = gyroMax[2] = 0;