| /branches/dongfang_FC_rewrite/analog.c |
|---|
| 447,7 → 447,7 |
| // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| // This is divided by 3 --> 10.34 counts per volt. |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| DebugOut.Analog[11] = HIRES_GYRO_INTEGRATION_FACTOR;//UBat; |
| DebugOut.Analog[11] = UBat; |
| analogDataReady = 1; // mark |
| ADCycleCount++; |
| // Stop the sampling. Cycle is over. |
| 493,9 → 493,8 |
| } |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) |
| / GYRO_OFFSET_CYCLES; |
| DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
| gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
| } |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 230,6 → 230,10 |
| int16_t cosroll = int_cos(angle[ROLL]); |
| int16_t sinroll = int_sin(angle[ROLL]); |
| int16_t tanpitch = int_tan(angle[PITCH]); |
| int16_t test; |
| #define ANTIOVF 512 |
| ACRate[PITCH] = ((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
| * sinroll) / (int32_t) MATH_UNIT_FACTOR; |
| 236,6 → 240,13 |
| ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t) rate_ATT[PITCH] * sinroll |
| / ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) / ANTIOVF |
| * tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
| test = rate_ATT[ROLL] + |
| (((rate_ATT[PITCH] * sinroll + yawRate * cosroll) >> 14) * tanpitch) >> 14; |
| DebugOut.Analog[20] = ACRate[ROLL]; |
| DebugOut.Analog[21] = test; |
| ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch |
| + ((int32_t) yawRate * cosroll) / cospitch; |
| } |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 143,8 → 143,8 |
| "0th O Corr roll ", |
| "DriftCompDelta P", |
| "DriftCompDelta R", |
| "ADPitchGyroOffs ", //20 |
| "ADRollGyroOffs ", |
| "ACRollRate1 ", //20 |
| "ACRollRate2 ", |
| "M1 ", |
| "M2 ", |
| "M3 ", |