| /branches/dongfang_FC_fixedwing/analog.c |
|---|
| 51,7 → 51,7 |
| * to be centered on zero. |
| */ |
| sensorOffset_t gyroOffset; |
| int16_t airpressureOffset; |
| uint16_t airpressureOffset; |
| /* |
| * In the MK coordinate system, nose-down is positive and left-roll is positive. |
| 119,7 → 119,7 |
| * So the initial value of 100 is for 9.7 volts. |
| */ |
| uint16_t UBat = 100; |
| uint16_t airspeed = 0; |
| uint16_t airspeedVelocity = 0; |
| /* |
| * Control and status. |
| 371,7 → 371,7 |
| void analog_update(void) { |
| analog_updateGyros(); |
| // analog_updateAccelerometers(); |
| analog_updateAirPressure(); |
| analog_updateAirspeed(); |
| analog_updateBatteryVoltage(); |
| #ifdef USE_MK3MAG |
| magneticHeading = volatileMagneticHeading; |
| 418,7 → 418,7 |
| } |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| int16_t min = (512-200) * GYRO_OVERSAMPLING; |
| int16_t max = (512+200) * GYRO_OVERSAMPLING; |
| if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
| 428,7 → 428,7 |
| airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| int16_t min = 200; |
| int16_t max = (1024-200) * 2; |
| if(airpressure < min || airpressure > max) |
| if(airpressureOffset < min || airpressureOffset > max) |
| versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
| gyroOffset_writeToEEProm(); |
| /branches/dongfang_FC_fixedwing/analog.h |
|---|
| 108,12 → 108,12 |
| #define GYRO_D_WINDOW_LENGTH 8 |
| extern uint16_t UBat; |
| extern uint16_t airspeed; |
| extern uint16_t airspeedVelocity; |
| // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
| #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
| extern sensorOffset_t gyroOffset; |
| extern uint16_t airpressureOffset; |
| /* |
| * This is not really for external use - but the ENC-03 gyro modules needs it. |
| 199,11 → 199,6 |
| /* |
| * Zero-offset gyros and write the calibration data to EEPROM. |
| */ |
| void analog_calibrateGyros(void); |
| void analog_calibrate(void); |
| /* |
| * Zero-offset accelerometers and write the calibration data to EEPROM. |
| */ |
| //void analog_calibrateAcc(void); |
| #endif //_ANALOG_H |
| /branches/dongfang_FC_fixedwing/commands.c |
|---|
| 25,7 → 25,7 |
| if (command == COMMAND_GYROCAL && !repeated) { |
| // Gyro calinbration, with or without selecting a new parameter-set. |
| paramSet_readFromEEProm(1); |
| analog_calibrateGyros(); |
| analog_calibrate(); |
| attitude_setNeutral(); |
| controlMixer_setNeutral(); |
| beepNumber(1); |
| /branches/dongfang_FC_fixedwing/eeprom.c |
|---|
| 171,9 → 171,9 |
| } |
| uint8_t airpressureOffset_readFromEEProm(void) { |
| return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airspeedOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
| return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airpressureOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
| } |
| void airpressureOffset_writeToEEProm(void) { |
| writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airspeedOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
| writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airpressureOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
| } |
| /branches/dongfang_FC_fixedwing/flight.c |
|---|
| 68,9 → 68,9 |
| return pid; |
| } |
| uint16_t result = (pid * 10) / airspeed; |
| uint16_t result = (pid * 10) / airspeedVelocity; |
| if (result > 240 || airspeed == 0) { |
| if (result > 240 || airspeedVelocity == 0) { |
| result = 240; |
| } |