| /branches/V0.71h Code Redesign killagreg/fc.c |
|---|
| 244,13 → 244,13 |
| static int32_t tmpl,tmpl2; |
| // Get offset corrected gyro readings (~ to angular velocity) |
| Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
| Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
| // Acceleration Sensor |
| // sliding average sensor readings |
| Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
| Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
| Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
| Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
| /branches/V0.71h Code Redesign killagreg/fc.h |
|---|
| 7,8 → 7,6 |
| #include <inttypes.h> |
| //#define YAW_GYRO_DEG_FACTOR 1450L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
| //#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
| #define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
| #define STICK_GAIN 4 |
| /branches/V0.71h Code Redesign killagreg/makefile |
|---|
| 1,7 → 1,7 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| #MCU = atmega644p |
| #MCU = atmega644 |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| 15,8 → 15,8 |
| #------------------------------------------------------------------- |
| #OPTIONS |
| # Use one of the extensions for a gps solution |
| EXT = KILLAGREG |
| #EXT = NAVICTRL |
| #EXT = KILLAGREG |
| EXT = NAVICTRL |
| #EXT = MK3MAG |
| #------------------------------------------------------------------- |
| # get SVN revision |
| /branches/V0.71h Code Redesign killagreg/spi.c |
|---|
| 89,8 → 89,8 |
| cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
| // update content of packet to NaviCtrl |
| ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108); |
| ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
| ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 130L); // convert to multiple of 0.1° |
| ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 130L); // convert to multiple of 0.1° |
| ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| ToNaviCtrl.GyroNick = Reading_GyroNick; |
| ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
| /branches/V0.71h Code Redesign killagreg/uart.c |
|---|
| 611,8 → 611,8 |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) |
| { |
| ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108); // approx. 0,1 Deg |
| ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
| ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 130L); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 130L); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| ToMk3Mag.CalState = CompassCalState; |