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Rev Age Author Path Log message Diff
2015 4541 d 4 h /branches/dongfang_FC_rewrite/  
1979 4637 d 11 h /branches/dongfang_FC_rewrite/  
1970 4639 d 0 h /branches/dongfang_FC_rewrite/  
1969 4639 d 3 h /branches/dongfang_FC_rewrite/  
1967 4639 d 17 h /branches/dongfang_FC_rewrite/  
1965 4640 d 17 h /branches/dongfang_FC_rewrite/  
1964 4641 d 0 h /branches/dongfang_FC_rewrite/  
1961 4641 d 10 h /branches/dongfang_FC_rewrite/  
1960 4642 d 1 h /branches/dongfang_FC_rewrite/ Parameter set changed - no longer MK compatible.
EEPROM data format changed - no longer MK compatible. Has checksum, and only one shared R/C channel map.		  
1955 4648 d 1 h /branches/dongfang_FC_rewrite/ analog processing moved to mainloop. DebugOut.Analog renamed to debugOut.analog  
1952 4649 d 10 h /branches/dongfang_FC_rewrite/ analog data processing moved from interrupt handler to main thread  
1877 4823 d 8 h /branches/dongfang_FC_rewrite/ Attitude xtrl experiment  
1874 4824 d 1 h /branches/dongfang_FC_rewrite/ Gyro factor of 4 removed.
Sign extension experiment
Mixer matrix execution now solved: No overflows and only 1 32 bit division (implemented with right shifting w sign extension)
Axis coupling disabled by default (until it starts working well...)		  
1872 4825 d 9 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4827 d 15 h /branches/dongfang_FC_rewrite/  
1821 4901 d 11 h /branches/dongfang_FC_rewrite/ reformatted.  
1796 4947 d 0 h /branches/dongfang_FC_rewrite/ ubx and mm3 removed.
Small changes to height calculation.		  
1775 4975 d 0 h /branches/dongfang_FC_rewrite/  
1646 5136 d 8 h /branches/dongfang_FC_rewrite/ Gyro and acc. offsetting rewritten. Now it is jolt-free. Offsets are unsigned.
New defaults for drift compensation.
Bug in acc. and gyro fusion fixed.
All gyro types tested (a standard FC1.3, a standard FC2.0 and a nonstandard InvenSense FC)		  
1645 5138 d 2 h /branches/dongfang_FC_rewrite/ Gyro measurement, gypo signal processing, attitude calculation and flight calculation were almost identical for pitch and roll. Therefore, arrays are now used for pitch and roll stuff + common code for both.
Gyro saturation prevention added.
Filtering and other processing of gyro signals modified.		  

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