Subversion Repositories FlightCtrl

 * the offsets with the DAC.

 * the offsets with the DAC.

 */

 */

volatile int16_t rawGyroSum[3];

volatile int16_t rawGyroSum[3];

volatile int16_t acc[3];

volatile int16_t acc[3];

volatile int16_t filteredAcc[2] = { 0,0 };

volatile int16_t filteredAcc[2] = { 0,0 };

/*

/*

 * These 4 exported variables are zero-offset. The "PID" ones are used

 * These 4 exported variables are zero-offset. The "PID" ones are used

 * in the attitude control as rotation rates. The "ATT" ones are for

 * in the attitude control as rotation rates. The "ATT" ones are for

        static uint16_t pressureAutorangingWait = 25;

        static uint16_t pressureAutorangingWait = 25;

        uint16_t rawAirPressure;

        uint16_t rawAirPressure;

        uint8_t i, axis;

        uint8_t i, axis;

        int16_t newrange;

        int16_t newrange;

        // for various filters...

        // for various filters...

        int16_t tempOffsetGyro, tempGyro;

        int16_t tempOffsetGyro, tempGyro;

                if (ACC_REVERSED[Z])

                if (ACC_REVERSED[Z])

                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];

                        acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z];

                else

                else

                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];

                        acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z];

                /*

        stronglyFilteredAcc[Z] =

        stronglyFilteredAcc[Z] =

            (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100;

        */

                break;

                break;

                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];

                        acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH];

                filteredAcc[PITCH] =

                filteredAcc[PITCH] =

                    (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER;

                /*

                    (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;

                    (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100;

                */

                else

                else

                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];

                        acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL];

                filteredAcc[ROLL] =

                filteredAcc[ROLL] =

                    (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER;

                    (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER;

                /*

        stronglyFilteredAcc[ROLL] =

        stronglyFilteredAcc[ROLL] =

            (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100;

        */

                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);

                measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1);

        // set adc muxer to next ad_channel

        // set adc muxer to next ad_channel

        ADMUX = (ADMUX & 0xE0) | ad_channel;

        ADMUX = (ADMUX & 0xE0) | ad_channel;

        // after full cycle stop further interrupts

        // after full cycle stop further interrupts

        if (state)

        if (state)

                analog_start();

                analog_start();

}

}

void analog_calibrate(void) {

void analog_calibrate(void) {

#define GYRO_OFFSET_CYCLES 32

#define GYRO_OFFSET_CYCLES 32