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Introduce better naming consistency for some union members. remove type 

prefix from a typedef.

Conflicts:

	obj/cleanflight_OLIMEXINO.hex
	src/flight_common.c
master
Dominic Clifton 11 years ago
parent
dcbb82c845
commit
4a23491d49
16 changed files with 68 additions and 68 deletions
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  1. 14
      obj/cleanflight_NAZE.hex
  2. 12
      obj/cleanflight_OLIMEXINO.hex
  3. 8
      src/config.c
  4. 4
      src/config_master.h
  5. 6
      src/flight_autotune.c
  6. 14
      src/flight_common.c
  7. 12
      src/flight_common.h
  8. 6
      src/flight_imu.c
  9. 12
      src/flight_mixer.c
  10. 10
      src/mw.c
  11. 14
      src/sensors_acceleration.c
  12. 2
      src/sensors_acceleration.h
  13. 6
      src/sensors_compass.c
  14. 2
      src/sensors_compass.h
  15. 4
      src/serial_cli.c
  16. 10
      src/serial_msp.c

14
obj/cleanflight_NAZE.hex
View File

@ -1883,11 +1883,11 @@
:10759000DFF8B4A1069B35F90A20595F801A084428
:1075A000F9F73CFB5A49F9F741FC8346FFF780FEA7
:1075B00030B1584A5146905D5A46FFF711FC834658
:1075C000DFF888A19AF80320C2B9059B39F90500B4
:1075D0001A7914325043F9F721FB4A49F9F726FC8E
:1075E0009AF8043081467BB1D8F848105846F9F72C
:1075F00069FB01464846F9F75DFA04E05846D8F8B9
:107600004410F9F75FFB8146434B0136585FF9F7A9
:1075C000DFF888A19AF803202AB15846D8F8441069
:1075D000F9F778FB17E0059B39F905001A791432A1
:1075E0005043F9F71BFB4749F9F720FC9AF80430A0
:1075F00081464BB1D8F848105846F9F763FB01466D
:107600004846F9F757FA8146434B0136585FF9F778
:1076100005FB424B0437D968F9F754FB82465146C3
:107620004846F9F745FAF9698346F9F74BFBDFF865
:107630002091049907905846F9F744FBB96AF9F785
@ -4771,8 +4771,8 @@
:102A0000753701087C370108873701088C370108C2
:102A1000000000004166726F333220434C4920763B
:102A2000657273696F6E20322E32204D61792032CB
:102A3000382032303134202F2031333A33363A3592
:102A400030202D2028636C65616E666C6967687440
:102A3000382032303134202F2032303A30353A319C
:102A400034202D2028636C65616E666C696768743C
:102A50002900417661696C61626C6520636F6D6D00
:102A6000616E64733A0D0A0025730925730D0A001F
:102A700053797374656D20557074696D653A2025BE

12
obj/cleanflight_OLIMEXINO.hex
View File

@ -1463,11 +1463,11 @@
:105B5000FDF722FFDFF8B4A1069B35F90A20595F53
:105B6000801A0844FAF7D2FF5A49FBF7D7F8834660
:105B7000FFF780FE30B1584A5146905D5A46FFF714
:105B800011FC8346DFF888A19AF80320C2B9059B6F
:105B900039F905001A7914325043FAF7B7FF4A4928
:105BA000FBF7BCF89AF8043081467BB1D8F848106E
:105BB0005846FAF7FFFF01464846FAF7F3FE04E0BD
:105BC0005846D8F84410FAF7F5FF8146434B0136A2
:105B800011FC8346DFF888A19AF803202AB1584611
:105B9000D8F84410FBF70EF817E0059B39F905001B
:105BA0001A7914325043FAF7B1FF4749FBF7B6F8B8
:105BB0009AF8043081464BB1D8F848105846FAF7A5
:105BC000F9FF01464846FAF7EDFE8146434B0136A0
:105BD000585FFAF79BFF424B0437D968FAF7EAFFA0
:105BE000824651464846FAF7DBFEF9698346FAF7E2
:105BF000E1FFDFF82091049907905846FAF7DAFFA1
@ -4107,7 +4107,7 @@
:10008000FF0D0108040E0108000000004166726FB8
:10009000333220434C492076657273696F6E20328B
:1000A0002E32204D61792032382032303134202FE9
:1000B0002031333A33363A3539202D2028636C65A8
:1000B0002032303A30343A3031202D2028636C65BC
:1000C000616E666C696768742900417661696C616C
:1000D000626C6520636F6D6D616E64733A0D0A002A
:1000E00025730925730D0A0053797374656D2055C6

8
src/config.c
View File

@ -60,11 +60,11 @@ profile_t currentProfile; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 70;
static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
accelerometerTrims->trims.pitch = 0;
accelerometerTrims->trims.roll = 0;
accelerometerTrims->trims.yaw = 0;
accelerometerTrims->values.pitch = 0;
accelerometerTrims->values.roll = 0;
accelerometerTrims->values.yaw = 0;
}
static void resetPidProfile(pidProfile_t *pidProfile)

4
src/config_master.h
View File

@ -34,8 +34,8 @@ typedef struct master_t {
gyroConfig_t gyroConfig;
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
int16_flightDynamicsTrims_t accZero;
int16_flightDynamicsTrims_t magZero;
flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero;
batteryConfig_t batteryConfig;

6
src/flight_autotune.c
View File

@ -129,10 +129,10 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
updatePidIndex();
if (rising) {
currentAngle = DECIDEGREES_TO_DEGREES(inclination->rawAngles[angleIndex]);
currentAngle = DECIDEGREES_TO_DEGREES(inclination->raw[angleIndex]);
} else {
targetAngle = -targetAngle;
currentAngle = DECIDEGREES_TO_DEGREES(-inclination->rawAngles[angleIndex]);
currentAngle = DECIDEGREES_TO_DEGREES(-inclination->raw[angleIndex]);
}
#if 1
@ -244,7 +244,7 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
updateTargetAngle();
return targetAngle - DECIDEGREES_TO_DEGREES(inclination->rawAngles[angleIndex]);
return targetAngle - DECIDEGREES_TO_DEGREES(inclination->raw[angleIndex]);
}
void autotuneReset(void)

14
src/flight_common.c
View File

@ -35,8 +35,8 @@ pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are w
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
{
rollAndPitchTrims->trims.roll = 0;
rollAndPitchTrims->trims.pitch = 0;
rollAndPitchTrims->values.roll = 0;
rollAndPitchTrims->values.pitch = 0;
}
void resetErrorAngle(void)
@ -84,7 +84,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
} else {
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.rawAngles[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
@ -94,7 +94,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
// it's the ANGLE mode - control is angle based, so control loop is needed
AngleRate = errorAngle * pidProfile->A_level;
} else {
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRate to add a little auto-level feel
@ -156,12 +156,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// observe max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
@ -224,7 +224,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
} else {
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));

12
src/flight_common.h
View File

@ -69,12 +69,12 @@ typedef struct int16_flightDynamicsTrims_s {
int16_t roll;
int16_t pitch;
int16_t yaw;
} int16_flightDynamicsTrims_def_t;
} flightDynamicsTrims_def_t;
typedef union {
int16_t raw[3];
int16_flightDynamicsTrims_def_t trims;
} int16_flightDynamicsTrims_t;
flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t;
typedef struct rollAndPitchTrims_s {
int16_t roll;
@ -83,7 +83,7 @@ typedef struct rollAndPitchTrims_s {
typedef union {
int16_t raw[2];
rollAndPitchTrims_t_def trims;
rollAndPitchTrims_t_def values;
} rollAndPitchTrims_t;
typedef struct rollAndPitchInclination_s {
@ -93,8 +93,8 @@ typedef struct rollAndPitchInclination_s {
} rollAndPitchInclination_t_def;
typedef union {
int16_t rawAngles[ANGLE_INDEX_COUNT];
rollAndPitchInclination_t_def angle;
int16_t raw[ANGLE_INDEX_COUNT];
rollAndPitchInclination_t_def values;
} rollAndPitchInclination_t;

6
src/flight_imu.c
View File

@ -327,8 +327,8 @@ static void getEstimatedAttitude(void)
// Attitude of the estimated vector
anglerad[AI_ROLL] = atan2f(EstG.V.Y, EstG.V.Z);
anglerad[AI_PITCH] = atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
inclination.angle.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
inclination.angle.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
inclination.values.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
inclination.values.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
if (sensors(SENSOR_MAG))
heading = calculateHeading(&EstM);
@ -361,7 +361,7 @@ static void getEstimatedAttitude(void)
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
{
return abs(inclination->angle.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->angle.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
return abs(inclination->values.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->values.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
}
int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)

12
src/flight_mixer.c
View File

@ -450,8 +450,8 @@ void mixTable(void)
break;
case MULTITYPE_GIMBAL:
servo[0] = (((int32_t)servoConf[0].rate * inclination.angle.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(0);
servo[1] = (((int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(1);
servo[0] = (((int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(0);
servo[1] = (((int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(1);
break;
case MULTITYPE_AIRPLANE:
@ -504,11 +504,11 @@ void mixTable(void)
if (rcOptions[BOXCAMSTAB]) {
if (gimbalConfig->gimbal_flags & GIMBAL_MIXTILT) {
servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.angle.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees / 50;
servo[1] += (-(int32_t)servoConf[0].rate) * inclination.angle.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees / 50;
servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
servo[1] += (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
} else {
servo[0] += (int32_t)servoConf[0].rate * inclination.angle.pitchDeciDegrees / 50;
servo[1] += (int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees / 50;
servo[0] += (int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees / 50;
servo[1] += (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
}
}
}

10
src/mw.c
View File

@ -267,7 +267,7 @@ void annexCode(void)
static uint32_t LEDTime;
if ((int32_t)(currentTime - LEDTime) >= 0) {
LEDTime = currentTime + 50000;
ledringState(f.ARMED, inclination.angle.pitchDeciDegrees, inclination.angle.rollDeciDegrees);
ledringState(f.ARMED, inclination.values.pitchDeciDegrees, inclination.values.rollDeciDegrees);
}
}
#endif
@ -450,16 +450,16 @@ void loop(void)
i = 0;
// Acc Trim
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
currentProfile.accelerometerTrims.trims.pitch += 2;
currentProfile.accelerometerTrims.values.pitch += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
currentProfile.accelerometerTrims.trims.pitch -= 2;
currentProfile.accelerometerTrims.values.pitch -= 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
currentProfile.accelerometerTrims.trims.roll += 2;
currentProfile.accelerometerTrims.values.roll += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
currentProfile.accelerometerTrims.trims.roll -= 2;
currentProfile.accelerometerTrims.values.roll -= 2;
i = 1;
}
if (i) {

14
src/sensors_acceleration.c
View File

@ -28,7 +28,7 @@ extern bool AccInflightCalibrationMeasurementDone;
extern bool AccInflightCalibrationSavetoEEProm;
extern bool AccInflightCalibrationActive;
static int16_flightDynamicsTrims_t *accelerationTrims;
static flightDynamicsTrims_t *accelerationTrims;
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
{
@ -95,8 +95,8 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
accZero_saved[FD_ROLL] = accelerationTrims->raw[FD_ROLL];
accZero_saved[FD_PITCH] = accelerationTrims->raw[FD_PITCH];
accZero_saved[FD_YAW] = accelerationTrims->raw[FD_YAW];
angleTrim_saved.trims.roll = rollAndPitchTrims->trims.roll;
angleTrim_saved.trims.pitch = rollAndPitchTrims->trims.pitch;
angleTrim_saved.values.roll = rollAndPitchTrims->values.roll;
angleTrim_saved.values.pitch = rollAndPitchTrims->values.pitch;
}
if (InflightcalibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
@ -118,8 +118,8 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
accelerationTrims->raw[FD_ROLL] = accZero_saved[FD_ROLL];
accelerationTrims->raw[FD_PITCH] = accZero_saved[FD_PITCH];
accelerationTrims->raw[FD_YAW] = accZero_saved[FD_YAW];
rollAndPitchTrims->trims.roll = angleTrim_saved.trims.roll;
rollAndPitchTrims->trims.pitch = angleTrim_saved.trims.pitch;
rollAndPitchTrims->values.roll = angleTrim_saved.values.roll;
rollAndPitchTrims->values.pitch = angleTrim_saved.values.pitch;
}
InflightcalibratingA--;
}
@ -137,7 +137,7 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
}
void applyAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrims)
void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
{
accADC[FD_ROLL] -= accelerationTrims->raw[FD_ROLL];
accADC[FD_PITCH] -= accelerationTrims->raw[FD_PITCH];
@ -160,7 +160,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
applyAccelerationTrims(accelerationTrims);
}
void setAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrimsToUse)
void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse)
{
accelerationTrims = accelerationTrimsToUse;
}

2
src/sensors_acceleration.h
View File

@ -20,4 +20,4 @@ extern uint16_t acc_1G;
bool isAccelerationCalibrationComplete(void);
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
void setAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrimsToUse);
void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse);

6
src/sensors_compass.c
View File

@ -33,11 +33,11 @@ void compassInit(void)
magInit = 1;
}
int compassGetADC(int16_flightDynamicsTrims_t *magZero)
int compassGetADC(flightDynamicsTrims_t *magZero)
{
static uint32_t t, tCal = 0;
static int16_flightDynamicsTrims_t magZeroTempMin;
static int16_flightDynamicsTrims_t magZeroTempMax;
static flightDynamicsTrims_t magZeroTempMin;
static flightDynamicsTrims_t magZeroTempMax;
uint32_t axis;
if ((int32_t)(currentTime - t) < 0)

2
src/sensors_compass.h
View File

@ -2,7 +2,7 @@
#ifdef MAG
void compassInit(void);
int compassGetADC(int16_flightDynamicsTrims_t *magZero);
int compassGetADC(flightDynamicsTrims_t *magZero);
#endif
extern int16_t magADC[XYZ_AXIS_COUNT];

4
src/serial_cli.c
View File

@ -242,8 +242,8 @@ const clivalue_t valueTable[] = {
{ "accxy_deadband", VAR_UINT8, &currentProfile.accxy_deadband, 0, 100 },
{ "accz_deadband", VAR_UINT8, &currentProfile.accz_deadband, 0, 100 },
{ "acc_unarmedcal", VAR_UINT8, &currentProfile.acc_unarmedcal, 0, 1 },
{ "acc_trim_pitch", VAR_INT16, &currentProfile.accelerometerTrims.trims.pitch, -300, 300 },
{ "acc_trim_roll", VAR_INT16, &currentProfile.accelerometerTrims.trims.roll, -300, 300 },
{ "acc_trim_pitch", VAR_INT16, &currentProfile.accelerometerTrims.values.pitch, -300, 300 },
{ "acc_trim_roll", VAR_INT16, &currentProfile.accelerometerTrims.values.roll, -300, 300 },
{ "baro_tab_size", VAR_UINT8, &currentProfile.barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX },
{ "baro_noise_lpf", VAR_FLOAT, &currentProfile.barometerConfig.baro_noise_lpf, 0, 1 },

10
src/serial_msp.c
View File

@ -390,8 +390,8 @@ static void evaluateCommand(void)
rxMspFrameRecieve();
break;
case MSP_SET_ACC_TRIM:
currentProfile.accelerometerTrims.trims.pitch = read16();
currentProfile.accelerometerTrims.trims.roll = read16();
currentProfile.accelerometerTrims.values.pitch = read16();
currentProfile.accelerometerTrims.values.roll = read16();
headSerialReply(0);
break;
case MSP_SET_RAW_GPS:
@ -608,7 +608,7 @@ static void evaluateCommand(void)
case MSP_ATTITUDE:
headSerialReply(6);
for (i = 0; i < 2; i++)
serialize16(inclination.rawAngles[i]);
serialize16(inclination.raw[i]);
serialize16(heading);
break;
case MSP_ALTITUDE:
@ -779,8 +779,8 @@ static void evaluateCommand(void)
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
headSerialReply(4);
serialize16(currentProfile.accelerometerTrims.trims.pitch);
serialize16(currentProfile.accelerometerTrims.trims.roll);
serialize16(currentProfile.accelerometerTrims.values.pitch);
serialize16(currentProfile.accelerometerTrims.values.roll);
break;
case MSP_UID:
headSerialReply(12);

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