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Code Issues Releases Activity

Hack to tweak the gyro gain for now although its too far out at the moment so

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something isn't configured properly.  Possibly it is staying in 250 deg/s mode.
Also make sure if the MPU6000 fifo backs up to pull extra data.
This commit is contained in:
James Cotton 2011-11-27 01:22:37 -06:00
parent 8bbc767a4e
commit f7d13ebd57
2 changed files with 35 additions and 7 deletions
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17
flight/Modules/Attitude/revolution/attitude.c
View File

@ -288,6 +288,12 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
}
// Hack for tweaking gyro gains with the old settings
scaling = gyroGain / 0.42;
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] *= scaling;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] *= scaling;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] *= scaling;
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
@ -333,18 +339,15 @@ float accel_mag;
float qmag;
static void updateAttitude(AttitudeRawData * attitudeRaw)
{
float dT;
portTickType thisSysTime = xTaskGetTickCount();
static portTickType lastSysTime = 0;
static int32_t timeval;
float dT = PIOS_DELAY_DiffuS(timeval) / 1000000.0f;
timeval = PIOS_DELAY_GetRaw();
float q[4];
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];

25
flight/PiOS/STM32F4xx/pios_mpu6000.c
View File

@ -364,6 +364,31 @@ void PIOS_MPU6000_IRQHandler(void)
return;
}
// In the case where extras samples backed up grabbed an extra
if (mpu6000_count >= (sizeof(data) * 2)) {
if(PIOS_MPU6000_ClaimBus() != 0)
return;
uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
if(PIOS_SPI_TransferBlock(pios_spi_gyro, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;
return;
}
PIOS_MPU6000_ReleaseBus();
struct pios_mpu6000_data data;
if(fifoBuf_getFree(&pios_mpu6000_fifo) < sizeof(data)) {
mpu6000_fifo_full++;
return;
}
}
data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];