Rev 772 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 772 | Rev 773 | ||
|---|---|---|---|
| Line 248... | Line 248... | ||
| 248 | 248 | ||
| 249 | GRN_ON; |
249 | GRN_ON; |
| Line 250... | Line 250... | ||
| 250 | ROT_OFF; |
250 | ROT_OFF; |
| 251 | 251 | ||
| 252 | // get maximum and minimum reading of all axis |
252 | // get maximum and minimum reading of all axis |
| 253 | while (measurement && !MM3_Timeout) |
253 | while (measurement) |
| 254 | { |
254 | { |
| Line 255... | Line 255... | ||
| 255 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
255 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| Line 274... | Line 274... | ||
| 274 | while(!CheckDelay(timer)); |
274 | while(!CheckDelay(timer)); |
| Line 275... | Line 275... | ||
| 275 | 275 | ||
| 276 | // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
276 | // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
| 277 | if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
277 | if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
| 278 | } |
- | |
| 279 | if(!MM3_Timeout) |
- | |
| 280 | { |
278 | } |
| 281 | // Rage of all axis |
279 | // Rage of all axis |
| 282 | MM3_calib.X_range = (x_max - x_min); |
280 | MM3_calib.X_range = (x_max - x_min); |
| 283 | MM3_calib.Y_range = (y_max - y_min); |
281 | MM3_calib.Y_range = (y_max - y_min); |
| 284 | MM3_calib.Z_range = (z_max - z_min); |
282 | MM3_calib.Z_range = (z_max - z_min); |
| 285 | 283 | ||
| 286 | // Offset of all axis |
284 | // Offset of all axis |
| 287 | MM3_calib.X_off = (x_max + x_min) / 2; |
285 | MM3_calib.X_off = (x_max + x_min) / 2; |
| 288 | MM3_calib.Y_off = (y_max + y_min) / 2; |
286 | MM3_calib.Y_off = (y_max + y_min) / 2; |
| 289 | MM3_calib.Z_off = (z_max + z_min) / 2; |
287 | MM3_calib.Z_off = (z_max + z_min) / 2; |
| 290 | 288 | ||
| 291 | // save to EEProm |
289 | // save to EEProm |
| 292 | SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
290 | SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
| 293 | SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
291 | SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
| 294 | SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
292 | SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
| 295 | SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
293 | SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
| 296 | SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
294 | SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
| 297 | SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
295 | SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
| 298 | } |
296 | |
| Line 299... | Line 297... | ||
| 299 | } |
297 | } |
| 300 | 298 | ||