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Added miss to the acc calibration

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This commit is contained in:
Jonas Holmberg 2016-10-31 18:19:44 +01:00
parent e040e35cf6
commit 83c11bd444
1 changed files with 8 additions and 0 deletions
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8
UAV-ControlSystem/src/tasks_main.c
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@ -163,6 +163,7 @@ bool systemTaskRxCliCheck(uint32_t currentDeltaTime)
return false; return false;
} }
//TODO: change the name of this task. Could be something like
void systemTaskSerial(void) void systemTaskSerial(void)
{ {
static bool readyToCalibrate = true; static bool readyToCalibrate = true;
@ -180,23 +181,30 @@ void systemTaskSerial(void)
// mpu6000_read_acc_offset(&accelProfile); // mpu6000_read_acc_offset(&accelProfile);
// } // }
// } // }
//If we are ready to accept a new calibration value. You can only perform one calibration until the sticks have been centered once until the next calibration
if(readyToCalibrate) if(readyToCalibrate)
{ {
//If any calibration is performed set readyToCalibrate to false so it cant just increase indefinitely when holding the sticks in a certain position
if (flags_IsSet_ID(systemFlags_stickLeft_id)) if (flags_IsSet_ID(systemFlags_stickLeft_id))
{ {
accRollFineTune -= calibrationAmount; accRollFineTune -= calibrationAmount;
readyToCalibrate = false;
} }
else if (flags_IsSet_ID(systemFlags_stickRight_id)) else if (flags_IsSet_ID(systemFlags_stickRight_id))
{ {
accRollFineTune += calibrationAmount; accRollFineTune += calibrationAmount;
readyToCalibrate = false;
} }
else if (flags_IsSet_ID(systemFlags_stickUp_id)) else if (flags_IsSet_ID(systemFlags_stickUp_id))
{ {
accPitchFineTune -= calibrationAmount; accPitchFineTune -= calibrationAmount;
readyToCalibrate = false;
} }
else if (flags_IsSet_ID(systemFlags_stickDown_id)) else if (flags_IsSet_ID(systemFlags_stickDown_id))
{ {
accPitchFineTune += calibrationAmount; accPitchFineTune += calibrationAmount;
readyToCalibrate = false;
} }
} }