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| Rev 2129 | Rev 2132 | ||
|---|---|---|---|
| Line 39... | Line 39... | ||
| 39 | uint8_t gyroDWindowIdx = 0; |
39 | uint8_t gyroDWindowIdx = 0; |
| Line 40... | Line 40... | ||
| 40 | 40 | ||
| 41 | /* |
41 | /* |
| 42 | * Airspeed |
42 | * Airspeed |
| 43 | */ |
43 | */ |
| 44 | int16_t airpressure; |
44 | //int16_t airpressure; |
| 45 | uint16_t airspeedVelocity = 0; |
45 | //uint16_t airspeedVelocity = 0; |
| 46 | //int16_t airpressureWindow[AIRPRESSURE_WINDOW_LENGTH]; |
46 | //int16_t airpressureWindow[AIRPRESSURE_WINDOW_LENGTH]; |
| Line 47... | Line 47... | ||
| 47 | //uint8_t airpressureWindowIdx = 0; |
47 | //uint8_t airpressureWindowIdx = 0; |
| 48 | 48 | ||
| Line 129... | Line 129... | ||
| 129 | volatile uint8_t adState; |
129 | volatile uint8_t adState; |
| 130 | volatile uint8_t adChannel; |
130 | volatile uint8_t adChannel; |
| Line 131... | Line 131... | ||
| 131 | 131 | ||
| 132 | // ADC channels |
132 | // ADC channels |
| 133 | #define AD_UBAT 6 |
133 | #define AD_UBAT 6 |
| Line 134... | Line 134... | ||
| 134 | #define AD_AIRPRESSURE 7 |
134 | //#define AD_AIRPRESSURE 7 |
| 135 | 135 | ||
| 136 | /* |
136 | /* |
| 137 | * Table of AD converter inputs for each state. |
137 | * Table of AD converter inputs for each state. |
| Line 144... | Line 144... | ||
| 144 | * The acc. sensor is sampled even if not used - or installed |
144 | * The acc. sensor is sampled even if not used - or installed |
| 145 | * at all. The cost is not significant. |
145 | * at all. The cost is not significant. |
| 146 | */ |
146 | */ |
| Line 147... | Line 147... | ||
| 147 | 147 | ||
| 148 | const uint8_t channelsForStates[] PROGMEM = { |
148 | const uint8_t channelsForStates[] PROGMEM = { |
| 149 | AD_AIRPRESSURE, |
149 | //AD_AIRPRESSURE, |
| 150 | AD_UBAT, |
150 | AD_UBAT |
| 151 | AD_AIRPRESSURE, |
151 | //AD_AIRPRESSURE, |
| 152 | AD_AIRPRESSURE, |
152 | //AD_AIRPRESSURE, |
| 153 | AD_AIRPRESSURE, |
153 | //AD_AIRPRESSURE, |
| Line 154... | Line 154... | ||
| 154 | }; |
154 | }; |
| 155 | 155 | ||
| Line 216... | Line 216... | ||
| 216 | for (uint8_t i = 0; i<8; i++) { |
216 | for (uint8_t i = 0; i<8; i++) { |
| 217 | ADSensorInputs[i] = 0; |
217 | ADSensorInputs[i] = 0; |
| 218 | } |
218 | } |
| Line 219... | Line 219... | ||
| 219 | 219 | ||
| 220 | adState = 0; |
220 | adState = 0; |
| 221 | adChannel = AD_AIRPRESSURE; |
221 | adChannel = AD_UBAT; |
| 222 | ADMUX = (ADMUX & 0xE0) | adChannel; |
222 | ADMUX = (ADMUX & 0xE0) | adChannel; |
| 223 | startADC(); |
223 | startADC(); |
| 224 | sensorDataReady = 0; |
224 | sensorDataReady = 0; |
| Line 298... | Line 298... | ||
| 298 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
298 | if (++gyroDWindowIdx >= IMUConfig.gyroDWindowLength) { |
| 299 | gyroDWindowIdx = 0; |
299 | gyroDWindowIdx = 0; |
| 300 | } |
300 | } |
| 301 | } |
301 | } |
| Line -... | Line 302... | ||
| - | 302 | ||
| 302 | 303 | /* |
|
| 303 | // probably wanna aim at 1/10 m/s/unit. |
304 | // probably wanna aim at 1/10 m/s/unit. |
| Line 304... | Line 305... | ||
| 304 | #define LOG_AIRSPEED_FACTOR 0 |
305 | #define LOG_AIRSPEED_FACTOR 0 |
| 305 | 306 | ||
| 306 | void analog_updateAirspeed(void) { |
307 | void analog_updateAirspeed(void) { |
| 307 | uint16_t rawAirpressure = ADSensorInputs[AD_AIRPRESSURE]; |
308 | uint16_t rawAirpressure = ADSensorInputs[AD_AIRPRESSURE]; |
| 308 | int16_t temp = rawAirpressure - airpressureOffset; |
309 | int16_t temp = airpressureOffset - rawAirPressure; |
| 309 | // airpressure -= airpressureWindow[airpressureWindowIdx]; |
310 | // airpressure -= airpressureWindow[airpressureWindowIdx]; |
| 310 | // airpressure += temp; |
311 | // airpressure += temp; |
| 311 | // airpressureWindow[airpressureWindowIdx] = temp; |
312 | // airpressureWindow[airpressureWindowIdx] = temp; |
| Line 324... | Line 325... | ||
| 324 | debugOut.analog[18] = airpressureOffset; |
325 | debugOut.analog[18] = airpressureOffset; |
| 325 | debugOut.analog[19] = airspeedVelocity; |
326 | debugOut.analog[19] = airspeedVelocity; |
| Line 326... | Line 327... | ||
| 326 | 327 | |
|
| 327 | isFlying = 0; //(airspeedVelocity >= staticParams.isFlyingThreshold); |
328 | isFlying = 0; //(airspeedVelocity >= staticParams.isFlyingThreshold); |
| - | 329 | } |
|
| Line 328... | Line 330... | ||
| 328 | } |
330 | */ |
| 329 | 331 | ||
| 330 | void analog_updateBatteryVoltage(void) { |
332 | void analog_updateBatteryVoltage(void) { |
| 331 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
333 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| 332 | // This is divided by 3 --> 10.34 counts per volt. |
334 | // This is divided by 3 --> 10.34 counts per volt. |
| Line 333... | Line 335... | ||
| 333 | UBat = (3 * UBat + ADSensorInputs[AD_UBAT] / 3) / 4; |
335 | UBat = (3 * UBat + ADSensorInputs[AD_UBAT] / 3) / 4; |
| 334 | } |
336 | } |
| 335 | 337 | ||
| 336 | void analog_update(void) { |
338 | void analog_update(void) { |
| 337 | analog_updateGyros(); |
339 | analog_updateGyros(); |
| 338 | // analog_updateAccelerometers(); |
340 | // analog_updateAccelerometers(); |
| 339 | analog_updateAirspeed(); |
341 | // analog_updateAirspeed(); |
| 340 | analog_updateBatteryVoltage(); |
342 | analog_updateBatteryVoltage(); |
| 341 | #ifdef USE_MK3MAG |
343 | #ifdef USE_MK3MAG |
| Line 377... | Line 379... | ||
| 377 | for (i = 0; i < OFFSET_CYCLES; i++) { |
379 | for (i = 0; i < OFFSET_CYCLES; i++) { |
| 378 | delay_ms_with_adc_measurement(10, 1); |
380 | delay_ms_with_adc_measurement(10, 1); |
| 379 | for (axis = PITCH; axis <= YAW; axis++) { |
381 | for (axis = PITCH; axis <= YAW; axis++) { |
| 380 | offsets[axis] += rawGyroValue(axis); |
382 | offsets[axis] += rawGyroValue(axis); |
| 381 | } |
383 | } |
| 382 | offsets[3] += ADSensorInputs[AD_AIRPRESSURE]; |
384 | // offsets[3] += ADSensorInputs[AD_AIRPRESSURE]; |
| 383 | } |
385 | } |
| Line 384... | Line 386... | ||
| 384 | 386 | ||
| 385 | for (axis = PITCH; axis <= YAW; axis++) { |
387 | for (axis = PITCH; axis <= YAW; axis++) { |
| 386 | gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
388 | gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| Line -... | Line 389... | ||
| - | 389 | } |
|
| 387 | } |
390 | |
| 388 | 391 | /* |
|
| 389 | airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
392 | airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| Line 390... | Line 393... | ||
| 390 | int16_t min = 200; |
393 | int16_t min = 200; |
| 391 | int16_t max = 1024-200; |
394 | int16_t max = 1024-200; |
| - | 395 | ||
| Line 392... | Line 396... | ||
| 392 | 396 | if(airpressureOffset < min || airpressureOffset > max) |
|
| - | 397 | versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
|
| Line 393... | Line 398... | ||
| 393 | if(airpressureOffset < min || airpressureOffset > max) |
398 | */ |
| 394 | versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
399 | |