| 7,6 → 7,7 |
|---|
| #include "attitude.h" |
| #include "sensors.h" |
| #include "printf_P.h" |
| #include "isqrt.h" |
| |
| // for Delay functions |
| #include "timer0.h" |
| 44,8 → 45,8 |
|---|
| int16_t gyroD[3]; |
| int16_t gyroDWindow[2][GYRO_D_WINDOW_LENGTH]; |
| uint8_t gyroDWindowIdx = 0; |
| int16_t dHeight; |
| uint32_t gyroActivity; |
| //int16_t dHeight; |
| //uint32_t gyroActivity; |
| |
| /* |
| * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| 116,6 → 117,7 |
|---|
| * Airspeed |
| */ |
| uint16_t simpleAirPressure; |
| uint16_t airspeedVelocity; |
| |
| // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
| // int32_t filteredAirPressure; |
| 375,12 → 377,6 |
|---|
| gyro_ATT[PITCH] = tempOffsetGyro[PITCH]; |
| gyro_ATT[ROLL] = tempOffsetGyro[ROLL]; |
| |
| /* |
| measureGyroActivity(gyroD[PITCH]); |
| measureGyroActivity(gyroD[ROLL]); |
| measureGyroActivity(yawGyro); |
| */ |
| |
| if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
| gyroDWindowIdx = 0; |
| } |
| 389,6 → 385,7 |
|---|
| void analog_updateAirPressure(void) { |
| uint16_t rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
| simpleAirPressure = rawAirPressure; |
| airspeedVelocity = isqrt16(simpleAirPressure); |
| } |
| |
| void analog_updateBatteryVoltage(void) { |
| 417,14 → 414,6 |
|---|
| gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
| } |
| |
| /* |
| if (accOffset_readFromEEProm()) { |
| printf("acc. meter offsets invalid%s",recal); |
| accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_OVERSAMPLING_XY; |
| accOffset.offsets[Z] = 717 * ACC_OVERSAMPLING_Z; |
| } |
| */ |
| |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |
| for (uint8_t i=PITCH; i<=YAW; i++) { |
| gyroNoisePeak[i] = 0; |
| 437,7 → 426,7 |
|---|
| // Therefore run measurement for 100ms to achive stable readings |
| delay_ms_with_adc_measurement(100, 0); |
| |
| gyroActivity = 0; |
| // gyroActivity = 0; |
| } |
| |
| void analog_calibrateGyros(void) { |