From 0976133f1f70ccdc16ad6831c170b61cd2c119f8 Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Sat, 13 Oct 2012 12:08:56 +0000 Subject: [PATCH] added acc_trim stuff into cli spacing/indentation fixes flyingwing is somewhat supported, reflect that in comment added anti-moron gyro calibration routine... if model is getting moved while its arming... don't calculate gyro avearage because its gonna be wrong... example of fail see here: http://www.rcgroups.com/forums/showthread.php?t=1749966 git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@229 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 5113 ++++++++++++++++++++++---------------------- src/cli.c | 2 + src/mw.c | 25 +- src/mw.h | 5 +- src/sensors.c | 18 +- 5 files changed, 2594 insertions(+), 2569 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index b39dc835d..8bc2653fb 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 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valueTable[] = { { "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 }, { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 }, { "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 }, + { "acc_trim_pitch", VAR_INT16, &cfg.angleTrim[PITCH], -300, 300 }, + { "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 }, { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 }, { "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 }, { "mpu6050_scale", VAR_UINT8, &cfg.mpu6050_scale, 0, 1 }, diff --git a/src/mw.c b/src/mw.c index adecfd25e..0470ef3c2 100755 --- a/src/mw.c +++ b/src/mw.c @@ -1,7 +1,7 @@ #include "board.h" #include "mw.h" -// July 2012 V2.1 +// October 2012 V2.1-dev flags_t f; int16_t debug[4]; @@ -35,20 +35,19 @@ int32_t GPS_coord[2]; int32_t GPS_home[2]; int32_t GPS_hold[2]; uint8_t GPS_numSat; -uint16_t GPS_distanceToHome; // distance to home point in meters -int16_t GPS_directionToHome; // direction to home or hol point in degrees -uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s +uint16_t GPS_distanceToHome; // distance to home point in meters +int16_t GPS_directionToHome; // direction to home or hol point in degrees +uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update int16_t GPS_angle[2] = { 0, 0 }; // it's the angles that must be applied for GPS correction -uint16_t GPS_ground_course = 0; // degrees*10 +uint16_t GPS_ground_course = 0; // degrees * 10 uint8_t GPS_Present = 0; // Checksum from Gps serial uint8_t GPS_Enable = 0; int16_t nav[2]; int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother int8_t nav_mode = NAV_MODE_NONE; // Navigation mode -//Automatic ACC Offset Calibration -// ********************** +// Automatic ACC Offset Calibration uint16_t InflightcalibratingA = 0; int16_t AccInflightCalibrationArmed; uint16_t AccInflightCalibrationMeasurementDone = 0; @@ -56,8 +55,8 @@ uint16_t AccInflightCalibrationSavetoEEProm = 0; uint16_t AccInflightCalibrationActive = 0; // Battery monitoring stuff -uint8_t batteryCellCount = 3; // cell count -uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead +uint8_t batteryCellCount = 3; // cell count +uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat) { @@ -65,7 +64,7 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat) for (r = 0; r < repeat; r++) { for (i = 0; i < num; i++) { - LED0_TOGGLE; // switch LEDPIN state + LED0_TOGGLE; // switch LEDPIN state BEEP_ON; delay(wait); BEEP_OFF; @@ -390,9 +389,9 @@ void loop(void) } } - for(i = 0; i < 4; i++) + for (i = 0; i < 4; i++) auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2); - for(i = 0; i < CHECKBOXITEMS; i++) + for (i = 0; i < CHECKBOXITEMS; i++) rcOptions[i] = (auxState & cfg.activate[i]) > 0; // note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false @@ -492,7 +491,7 @@ void loop(void) } else { f.PASSTHRU_MODE = 0; } - + if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING || cfg.mixerConfiguration == MULTITYPE_AIRPLANE) { f.HEADFREE_MODE = 0; } diff --git a/src/mw.h b/src/mw.h index fc6a60cd2..bf6500e6c 100755 --- a/src/mw.h +++ b/src/mw.h @@ -2,7 +2,6 @@ /* for VBAT monitoring frequency */ #define VBATFREQ 6 // to read battery voltage - nth number of loop iterations - #define BARO_TAB_SIZE_MAX 48 #define VERSION 211 @@ -29,13 +28,13 @@ typedef enum MultiType MULTITYPE_GIMBAL = 5, MULTITYPE_Y6 = 6, MULTITYPE_HEX6 = 7, - MULTITYPE_FLYING_WING = 8, // UNSUPPORTED, do not select! + MULTITYPE_FLYING_WING = 8, MULTITYPE_Y4 = 9, MULTITYPE_HEX6X = 10, MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently - MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter + MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported) MULTITYPE_HELI_120_CCPM = 15, MULTITYPE_HELI_90_DEG = 16, MULTITYPE_VTAIL4 = 17, diff --git a/src/sensors.c b/src/sensors.c index 6d8c3bd41..199ad9ed2 100755 --- a/src/sensors.c +++ b/src/sensors.c @@ -308,9 +308,11 @@ void Baro_update(void) static void GYRO_Common(void) { + int axis; static int16_t previousGyroADC[3] = { 0, 0, 0 }; static int32_t g[3]; - int axis; + static int16_t gyroMin[3]; + static int16_t gyroMax[3]; if (calibratingG > 0) { for (axis = 0; axis < 3; axis++) { @@ -319,11 +321,23 @@ static void GYRO_Common(void) g[axis] = 0; // Sum up 1000 readings g[axis] += gyroADC[axis]; - // g[axis] += (1000 - calibratingG) >> 1; + if (gyroMin[axis] > gyroADC[axis]) + gyroMin[axis] = gyroADC[axis]; + if (gyroMax[axis] < gyroADC[axis]) + gyroMax[axis] = gyroADC[axis]; // Clear global variables for next reading gyroADC[axis] = 0; gyroZero[axis] = 0; if (calibratingG == 1) { + int16_t gyroDiff = gyroMax[axis] - gyroMin[axis]; + // check variance and startover if idiot was moving the model + if (gyroDiff > 10) { + calibratingG = 1000; + gyroMin[0] = gyroMin[1] = gyroMin[2] = 0; + gyroMax[0] = gyroMax[1] = gyroMax[2] = 0; + g[0] = g[1] = g[2] = 0; + continue; + } gyroZero[axis] = g[axis] / 1000; blinkLED(10, 15, 1); }