| 86,7 → 86,7 |
|---|
| volatile uint16_t sensorInputs[8]; |
| volatile int16_t rawGyroSum[3]; |
| volatile int16_t acc[3]; |
| volatile int16_t filteredAcc[2] = { 0,0 }; |
| volatile int16_t filteredAcc[3] = { 0,0,0 }; |
| // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
| |
| /* |
| 150,8 → 150,8 |
|---|
| /* |
| * Experiment: Measuring vibration-induced sensor noise. |
| */ |
| volatile uint16_t gyroNoisePeak[2]; |
| volatile uint16_t accNoisePeak[2]; |
| volatile uint16_t gyroNoisePeak[3]; |
| volatile uint16_t accNoisePeak[3]; |
| |
| // ADC channels |
| #define AD_GYRO_YAW 0 |
| 347,6 → 347,12 |
|---|
| } |
| |
| void analog_updateAccelerometers(void) { |
| // Z acc. |
| if (ACC_REVERSED[Z]) |
| acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
| |
| // Pitch and roll axis accelerations. |
| for (uint8_t axis=0; axis<2; axis++) { |
| if (ACC_REVERSED[axis]) |
| 353,27 → 359,12 |
|---|
| acc[axis] = accOffset.offsets[axis] - sensorInputs[AD_ACC_PITCH-axis]; |
| else |
| acc[axis] = sensorInputs[AD_ACC_PITCH-axis] - accOffset.offsets[axis]; |
| |
| } |
| |
| for (uint8_t axis=0; axis<3; axis++) { |
| filteredAcc[axis] = (filteredAcc[axis] * (staticParams.accFilterConstant - 1) + acc[axis]) / staticParams.accFilterConstant; |
| |
| /* |
| stronglyFilteredAcc[PITCH] = |
| (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
| */ |
| |
| measureNoise(acc[axis], &accNoisePeak[axis], 1); |
| } |
| |
| // Z acc. |
| if (ACC_REVERSED[Z]) |
| acc[Z] = accOffset.offsets[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset.offsets[Z]; |
| |
| /* |
| stronglyFilteredAcc[Z] = |
| (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
| */ |
| } |
| |
| void analog_updateAirPressure(void) { |
| 482,13 → 473,10 |
|---|
| gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
| } |
| |
| debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
| debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
| |
| if (accOffset_readFromEEProm()) { |
| printf("acc. meter offsets invalid%s",recal); |
| accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
| accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
| accOffset.offsets[Z] = 717 * ACC_SUMMATION_FACTOR_Z; |
| } |
| |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |