calibration.
When the model is moved during the gyro calibration period too much the
code that detects the movement (gyroMovementCalibrationThreshold aka
'moron threshold') did not restart the calibration correctly and one too
few calibration cycles were used when restarting.
In addition to this there was unnecessary calibration reset code - the
reset of calibration variables is supposed to happen at the start of
calibration; due to the bug the first calibration cycle could not be
detected when restarting so the old reset code was required.
This commit also cleans up the Gyro code so the it is in a similar style
to the recently cleaned acceleration code.
In doing so accelerometer sensor and trim code had to be cleaned.
Added a new method to buzzer.c to avoid exposing toggleBeep.
Renamed current_profile to current_profile_index to avoid confusion.
Moved some GPS code from mw.c into gps_common.c.
Moved pid values into a pidProfile_t structure; this was done so that
gps_common.c does not have a dependency on config_profile.h.
pidProfile_t lives in flight_common.h now.
Moved gps profile settings from profile_t into gpsProfile_t for the same
reason.
Removed gps_common.c's dependency on masterConfig_t by passing needed
variables into gpsInit().
separate concerns and help reduce and clarify dependencies.
cfg and mcfg are too similarly named and are not obvious. Renamed cfg
to currentProfile and mcfg to masterConfig. This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
This resulted in the removal of duplicate logic, duplicate code and the
removal of a temporary buffer per-driver.
The NAZE specific sensor alignment is now contained within the core code
instead of in the drivers.
The sensor alignment is determines by the sensor initialisation code.
The alignment of sensor readings is now performed once and only by the
appropriate sensor code, see usages of alignSensors().
The acc/gyro/compass driver code is now more reusable since it has no
dependencies on the main code.
each. relocated acc_t/gyro_t from sensors_common.h into
drivers/accgyro_common.h since they define an interface and the
dependency was pointing the wrong way from the drivers.
baro_t/acc_t/gyro_t dependences are all now pointing the right way.
the code is doing. There are now no EEPROM read/write/reset/verify
methods that take any arguments which removes magic boolean variables
from method signatures.
This also removes duplicate code in the cliDefaults and cliSave commands
which results in smaller code also also due to the deduplication of a
reboot message.
only what it's name implies and it's method takes no arguments. This
avoids the 0/1 magic numbers which was a flag to decide whether the user
should be notified after the EEPROM has been read (!).
Introduced a method called readEEPROMAndNotify() which is used in all
cases where writeEEPROM(1) was previously called.
Additionally this avoid re-reading the profile when the reboot command
is issued which speeds up reboots.
Finally this avoid needless comments because the code tells you now what
it is going to do.
serial_common.c/h. decouple runtime_config from serial ports. decouple
buzzer from serial ports. decouple opening of the main serial port from
the msp code. decouple serial rx providers from runtime_config. rename
core_t to serialPorts_t since it only contained serial ports. It's now
clear which files use serial ports based on the header files they
include.
of determining a revision code. Previously there was mpu6050 specific
code in cli.c (the status command).
Finally this commit has removed all non-serial port configuration
settings from core_t so that a future commit can refactor core_t to
reduce dependencies on serial port code.
In doing this I also noted from other source code that the MPU6050
accelerometer trim for some revisions appeared to be incorrectly set to
255 * 8 instead of 256 * 8.
and by the mixer. main.c now asks the mixer if it needs to use servos
and the mixer decides this in mixerInit(). Main already has a
dependency on the mixer. This allows future commits to further clean up
core_t which is still a source of dependency problems.
Dominic Clifton
dongie
treymarc