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Code Issues Releases Activity

Slow down gyro a bit on CC to give the CPU some breathing room. Might need to

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come down more.
This commit is contained in:
James Cotton 2012-04-01 18:32:39 -05:00
parent a960f3d07e
commit 8032130769
2 changed files with 4 additions and 1 deletions
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2
flight/CopterControl/System/pios_board.c
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@ -105,7 +105,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg, .exti_cfg = &pios_exti_mpu6000_cfg,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1khz // Clock at 8 khz, downsampled by 8 for 1khz
.Smpl_rate_div = 7, .Smpl_rate_div = 10,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN,

3
flight/Modules/Attitude/attitude.c
View File

@ -438,6 +438,9 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
// Account for accel magnitude // Account for accel magnitude
float accel_mag = sqrtf(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]); float accel_mag = sqrtf(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
if(accel_mag < 1.0e-3f)
return;
accel_err[0] /= accel_mag; accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag; accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag; accel_err[2] /= accel_mag;