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Merge remote branch 'origin/corvuscorax/portugal_backports' into revo-next

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Corvus Corax 2012-06-02 22:44:13 +02:00
commit 88f69daf64
2 changed files with 13 additions and 5 deletions
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4
flight/Modules/ManualControl/manualcontrol.c
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@ -63,7 +63,7 @@
#define ARMED_TIME_MS 1000
#define ARMED_THRESHOLD 0.50f
//safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 150
#define CONNECTION_OFFSET 250
// Private types
typedef enum
@ -314,7 +314,7 @@ static void manualControlTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
} else {
} else if (valid_input_detected) {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range

14
flight/Modules/Sensors/sensors.c
View File

@ -88,6 +88,8 @@ static float mag_bias[3] = {0,0,0};
static float mag_scale[3] = {0,0,0};
static float accel_bias[3] = {0,0,0};
static float accel_scale[3] = {0,0,0};
static float gyro_bias[3] = {0,0,0};
static float gyro_scale[3] = {0,0,0};
static float R[3][3] = {{0}};
static int8_t rotate = 0;
@ -361,9 +363,9 @@ static void SensorsTask(void *parameters)
float gyros[3] = {(float) gyro_accum[1] / gyro_samples,
(float) gyro_accum[0] / gyro_samples,
-(float) gyro_accum[2] / gyro_samples};
float gyros_out[3] = {gyros[0] * gyro_scaling,
gyros[1] * gyro_scaling,
gyros[2] * gyro_scaling};
float gyros_out[3] = {gyros[0] * gyro_scaling * gyro_scale[0] - gyro_bias[0],
gyros[1] * gyro_scaling * gyro_scale[1] - gyro_bias[1],
gyros[2] * gyro_scaling * gyro_scale[2] - gyro_bias[2]};
if (rotate) {
rot_mult(R, gyros_out, gyros);
gyrosData.x = gyros[0];
@ -448,6 +450,12 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
accel_scale[0] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_X];
accel_scale[1] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Y];
accel_scale[2] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Z];
gyro_bias[0] = cal.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyro_bias[1] = cal.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Y];
gyro_bias[2] = cal.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Z];
gyro_scale[0] = cal.gyro_scale[REVOCALIBRATION_GYRO_SCALE_X];
gyro_scale[1] = cal.gyro_scale[REVOCALIBRATION_GYRO_SCALE_Y];
gyro_scale[2] = cal.gyro_scale[REVOCALIBRATION_GYRO_SCALE_Z];
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);