/branches/V0.71h Code Redesign killagreg/fc.c |
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244,13 → 244,13 |
static int32_t tmpl,tmpl2; |
// Get offset corrected gyro readings (~ to angular velocity) |
Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
// Acceleration Sensor |
// sliding average sensor readings |
Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
/branches/V0.71h Code Redesign killagreg/fc.h |
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7,8 → 7,6 |
#include <inttypes.h> |
//#define YAW_GYRO_DEG_FACTOR 1450L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
//#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
#define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
#define STICK_GAIN 4 |
/branches/V0.71h Code Redesign killagreg/makefile |
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1,7 → 1,7 |
#-------------------------------------------------------------------- |
# MCU name |
MCU = atmega644 |
#MCU = atmega644p |
#MCU = atmega644 |
MCU = atmega644p |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
15,8 → 15,8 |
#------------------------------------------------------------------- |
#OPTIONS |
# Use one of the extensions for a gps solution |
EXT = KILLAGREG |
#EXT = NAVICTRL |
#EXT = KILLAGREG |
EXT = NAVICTRL |
#EXT = MK3MAG |
#------------------------------------------------------------------- |
# get SVN revision |
/branches/V0.71h Code Redesign killagreg/spi.c |
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89,8 → 89,8 |
cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
// update content of packet to NaviCtrl |
ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 108); |
ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
ToNaviCtrl.IntegralNick = (int16_t) (IntegralNick / 130L); // convert to multiple of 0.1° |
ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 130L); // convert to multiple of 0.1° |
ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
ToNaviCtrl.GyroNick = Reading_GyroNick; |
ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
/branches/V0.71h Code Redesign killagreg/uart.c |
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611,8 → 611,8 |
#ifdef USE_MK3MAG |
if((CheckDelay(Compass_Timer)) && txd_complete) |
{ |
ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108); // approx. 0,1 Deg |
ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 130L); // approx. 0.1 deg |
ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 130L); // approx. 0.1 deg |
ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
ToMk3Mag.CalState = CompassCalState; |