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| Rev 2105 | Rev 2106 | ||
|---|---|---|---|
| Line 49... | Line 49... | ||
| 49 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
49 | * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| 50 | * standing still. They are used for adjusting the gyro and acc. meter values |
50 | * standing still. They are used for adjusting the gyro and acc. meter values |
| 51 | * to be centered on zero. |
51 | * to be centered on zero. |
| 52 | */ |
52 | */ |
| 53 | sensorOffset_t gyroOffset; |
53 | sensorOffset_t gyroOffset; |
| 54 | int16_t airpressureOffset; |
54 | uint16_t airpressureOffset; |
| Line 55... | Line 55... | ||
| 55 | 55 | ||
| 56 | /* |
56 | /* |
| 57 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
57 | * In the MK coordinate system, nose-down is positive and left-roll is positive. |
| 58 | * If a sensor is used in an orientation where one but not both of the axes has |
58 | * If a sensor is used in an orientation where one but not both of the axes has |
| Line 117... | Line 117... | ||
| 117 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
117 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
| 118 | * That is divided by 3 below, for a final 10.34 per volt. |
118 | * That is divided by 3 below, for a final 10.34 per volt. |
| 119 | * So the initial value of 100 is for 9.7 volts. |
119 | * So the initial value of 100 is for 9.7 volts. |
| 120 | */ |
120 | */ |
| 121 | uint16_t UBat = 100; |
121 | uint16_t UBat = 100; |
| 122 | uint16_t airspeed = 0; |
122 | uint16_t airspeedVelocity = 0; |
| Line 123... | Line 123... | ||
| 123 | 123 | ||
| 124 | /* |
124 | /* |
| 125 | * Control and status. |
125 | * Control and status. |
| 126 | */ |
126 | */ |
| Line 369... | Line 369... | ||
| 369 | } |
369 | } |
| Line 370... | Line 370... | ||
| 370 | 370 | ||
| 371 | void analog_update(void) { |
371 | void analog_update(void) { |
| 372 | analog_updateGyros(); |
372 | analog_updateGyros(); |
| 373 | // analog_updateAccelerometers(); |
373 | // analog_updateAccelerometers(); |
| 374 | analog_updateAirPressure(); |
374 | analog_updateAirspeed(); |
| 375 | analog_updateBatteryVoltage(); |
375 | analog_updateBatteryVoltage(); |
| 376 | #ifdef USE_MK3MAG |
376 | #ifdef USE_MK3MAG |
| 377 | magneticHeading = volatileMagneticHeading; |
377 | magneticHeading = volatileMagneticHeading; |
| 378 | #endif |
378 | #endif |
| Line 416... | Line 416... | ||
| 416 | } |
416 | } |
| 417 | offsets[3] += sensorInputs[AD_AIRPRESSURE]; |
417 | offsets[3] += sensorInputs[AD_AIRPRESSURE]; |
| 418 | } |
418 | } |
| Line 419... | Line 419... | ||
| 419 | 419 | ||
| 420 | for (axis = PITCH; axis <= YAW; axis++) { |
420 | for (axis = PITCH; axis <= YAW; axis++) { |
| 421 | gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
421 | gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| 422 | int16_t min = (512-200) * GYRO_OVERSAMPLING; |
422 | int16_t min = (512-200) * GYRO_OVERSAMPLING; |
| 423 | int16_t max = (512+200) * GYRO_OVERSAMPLING; |
423 | int16_t max = (512+200) * GYRO_OVERSAMPLING; |
| 424 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
424 | if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
| 425 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
425 | versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
| Line 426... | Line 426... | ||
| 426 | } |
426 | } |
| 427 | 427 | ||
| 428 | airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
428 | airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| 429 | int16_t min = 200; |
429 | int16_t min = 200; |
| 430 | int16_t max = (1024-200) * 2; |
430 | int16_t max = (1024-200) * 2; |
| Line 431... | Line 431... | ||
| 431 | if(airpressure < min || airpressure > max) |
431 | if(airpressureOffset < min || airpressureOffset > max) |
| Line 432... | Line 432... | ||
| 432 | versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
432 | versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |