Rev 1979 | Rev 2018 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1979 | Rev 2015 | ||
|---|---|---|---|
| Line 14... | Line 14... | ||
| 14 | * How much low pass filtering to apply for gyro_ATT. |
14 | * How much low pass filtering to apply for gyro_ATT. |
| 15 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
15 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
| 16 | * Temporarily replaced by userparam-configurable variable. |
16 | * Temporarily replaced by userparam-configurable variable. |
| 17 | */ |
17 | */ |
| 18 | // #define GYROS_ATT_FILTER 1 |
18 | // #define GYROS_ATT_FILTER 1 |
| 19 | - | ||
| 20 | // Temporarily replaced by userparam-configurable variable. |
19 | // Temporarily replaced by userparam-configurable variable. |
| 21 | // #define ACC_FILTER 4 |
20 | // #define ACC_FILTER 4 |
| Line 22... | Line 21... | ||
| 22 | 21 | ||
| 23 | /* |
22 | /* |
| Line 173... | Line 172... | ||
| 173 | * integration to angles. For the same axis, the PID and ATT variables |
172 | * integration to angles. For the same axis, the PID and ATT variables |
| 174 | * generally have about the same values. There are just some differences |
173 | * generally have about the same values. There are just some differences |
| 175 | * in filtering, and when a gyro becomes near saturated. |
174 | * in filtering, and when a gyro becomes near saturated. |
| 176 | * Maybe this distinction is not really necessary. |
175 | * Maybe this distinction is not really necessary. |
| 177 | */ |
176 | */ |
| 178 | extern volatile int16_t gyro_PID[2]; |
177 | extern int16_t gyro_PID[2]; |
| 179 | extern volatile int16_t gyro_ATT[2]; |
178 | extern int16_t gyro_ATT[2]; |
| 180 | extern volatile int16_t gyroD[2]; |
179 | extern int16_t gyroD[2]; |
| 181 | extern volatile int16_t yawGyro; |
180 | extern int16_t yawGyro; |
| 182 | extern volatile uint16_t ADCycleCount; |
181 | extern volatile uint16_t ADCycleCount; |
| 183 | extern volatile int16_t UBat; |
182 | extern int16_t UBat; |
| Line 184... | Line 183... | ||
| 184 | 183 | ||
| 185 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
184 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
| Line 186... | Line 185... | ||
| 186 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
185 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
| Line 190... | Line 189... | ||
| 190 | extern sensorOffset_t gyroAmplifierOffset; |
189 | extern sensorOffset_t gyroAmplifierOffset; |
| Line 191... | Line 190... | ||
| 191 | 190 | ||
| 192 | /* |
191 | /* |
| 193 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
192 | * This is not really for external use - but the ENC-03 gyro modules needs it. |
| 194 | */ |
193 | */ |
| Line 195... | Line 194... | ||
| 195 | extern volatile int16_t rawGyroSum[3]; |
194 | //extern volatile int16_t rawGyroSum[3]; |
| 196 | 195 | ||
| 197 | /* |
196 | /* |
| 198 | * The acceleration values that this module outputs. They are zero based. |
197 | * The acceleration values that this module outputs. They are zero based. |
| 199 | */ |
198 | */ |
| 200 | extern volatile int16_t acc[3]; |
199 | extern int16_t acc[3]; |
| Line 201... | Line 200... | ||
| 201 | extern volatile int16_t filteredAcc[3]; |
200 | extern int16_t filteredAcc[3]; |
| 202 | // extern volatile int32_t stronglyFilteredAcc[3]; |
201 | // extern volatile int32_t stronglyFilteredAcc[3]; |
| 203 | 202 | ||
| 204 | /* |
203 | /* |
| 205 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
204 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
| 206 | * only really reflect the noise level when the copter stands still but with |
205 | * only really reflect the noise level when the copter stands still but with |
| 207 | * its motors running. |
206 | * its motors running. |
| Line 208... | Line 207... | ||
| 208 | */ |
207 | */ |
| 209 | extern volatile uint16_t gyroNoisePeak[3]; |
208 | extern uint16_t gyroNoisePeak[3]; |
| 210 | extern volatile uint16_t accNoisePeak[3]; |
209 | extern uint16_t accNoisePeak[3]; |
| 211 | 210 | ||
| Line 252... | Line 251... | ||
| 252 | #define PRESSURE_EXTRAPOLATION_COEFF 25L |
251 | #define PRESSURE_EXTRAPOLATION_COEFF 25L |
| 253 | #define AUTORANGE_WAIT_FACTOR 1 |
252 | #define AUTORANGE_WAIT_FACTOR 1 |
| Line 254... | Line 253... | ||
| 254 | 253 | ||
| Line 255... | Line 254... | ||
| 255 | #define ABS_ALTITUDE_OFFSET 108205 |
254 | #define ABS_ALTITUDE_OFFSET 108205 |
| 256 | 255 | ||
| 257 | extern volatile uint16_t simpleAirPressure; |
256 | extern uint16_t simpleAirPressure; |
| 258 | /* |
257 | /* |
| 259 | * At saturation, the filteredAirPressure may actually be (simulated) negative. |
258 | * At saturation, the filteredAirPressure may actually be (simulated) negative. |
| Line 260... | Line 259... | ||
| 260 | */ |
259 | */ |
| 261 | extern volatile int32_t filteredAirPressure; |
260 | extern int32_t filteredAirPressure; |
| 262 | 261 | ||
| 263 | /* |
262 | /* |
| Line 264... | Line 263... | ||
| 264 | * Flag: Interrupt handler has done all A/D conversion and processing. |
263 | * Flag: Interrupt handler has done all A/D conversion and processing. |
| Line 265... | Line 264... | ||
| 265 | */ |
264 | */ |
| - | 265 | extern volatile uint8_t analogDataReady; |
|
| - | 266 | ||
| - | 267 | void analog_init(void); |
|
| - | 268 | ||
| - | 269 | /* |
|
| - | 270 | * This is really only for use for the ENC-03 code module, which needs to get the raw value |
|
| 266 | extern volatile uint8_t analogDataReady; |
271 | * for its calibration. The raw value should not be used for anything else. |
| 267 | 272 | */ |
|
| 268 | void analog_init(void); |
273 | uint16_t rawGyroValue(uint8_t axis); |
| Line 269... | Line 274... | ||
| 269 | 274 | ||