src/main/flight/imu.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 extern int16_t throttleAngleCorrection;
  21 extern uint32_t accTimeSum;
  22 extern int accSumCount;
  23 extern float accVelScale;
  24
  25 extern int16_t accSmooth[XYZ_AXIS_COUNT];
  26 extern int32_t accSum[XYZ_AXIS_COUNT];
  27 extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
  28
  29
  30 typedef struct rollAndPitchInclination_s {
  31     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  32     int16_t rollDeciDegrees;
  33     int16_t pitchDeciDegrees;
  34 } rollAndPitchInclination_t_def;
  35
  36 typedef union {
  37     int16_t raw[ANGLE_INDEX_COUNT];
  38     rollAndPitchInclination_t_def values;
  39 } rollAndPitchInclination_t;
  40
  41 extern rollAndPitchInclination_t inclination;
  42
  43 typedef struct accDeadband_s {
  44     uint8_t xy;                 // set the acc deadband for xy-Axis
  45     uint8_t z;                  // set the acc deadband for z-Axis, this ignores small accelerations
  46 } accDeadband_t;
  47
  48 typedef struct imuRuntimeConfig_s {
  49     uint8_t acc_lpf_factor;
  50     uint8_t acc_unarmedcal;
  51     float gyro_cmpf_factor;
  52     float gyro_cmpfm_factor;
  53     int8_t small_angle;
  54 } imuRuntimeConfig_t;
  55
  56 void imuConfigure(
  57     imuRuntimeConfig_t *initialImuRuntimeConfig,
  58     pidProfile_t *initialPidProfile,
  59     accDeadband_t *initialAccDeadband,
  60     float accz_lpf_cutoff,
  61     uint16_t throttle_correction_angle
  62 );
  63
  64 void calculateEstimatedAltitude(uint32_t currentTime);
  65 void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
  66 float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
  67 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
  68 float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
  69
  70 int16_t imuCalculateHeading(t_fp_vector *vec);
  71
  72 void imuResetAccelerationSum(void);
  73
  74