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TEMP adc no longer required for ADXRS150

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This commit is contained in:
Pascal Brisset
2007-10-13 08:18:21 +00:00
parent bc785e75f5
commit f622395e21
1 changed files with 12 additions and 8 deletions
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sw/airborne/gyro.c
+12 -8
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@@ -35,23 +35,26 @@
#include "estimator.h" #include "estimator.h"
int16_t roll_rate_adc; int16_t roll_rate_adc;
float temp_comp; /* Needed for the downlinked message */
static struct adc_buf buf_roll; static struct adc_buf buf_roll;
#define RadiansOfADC(_adc, scale) RadOfDeg((_adc * scale)) #define RadiansOfADC(_adc, scale) RadOfDeg((_adc * scale))
#if defined ADXRS150 #if defined ADC_CHANNEL_GYRO_TEMP
static struct adc_buf buf_temp; static struct adc_buf buf_temp;
float temp_comp; #endif
#elif defined IDG300
#if defined ADC_CHANNEL_GYRO_PITCH
int16_t pitch_rate_adc; int16_t pitch_rate_adc;
static struct adc_buf buf_pitch; static struct adc_buf buf_pitch;
#endif #endif
void gyro_init( void) { void gyro_init( void) {
adc_buf_channel(ADC_CHANNEL_GYRO_ROLL, &buf_roll, ADC_CHANNEL_GYRO_NB_SAMPLES); adc_buf_channel(ADC_CHANNEL_GYRO_ROLL, &buf_roll, ADC_CHANNEL_GYRO_NB_SAMPLES);
#if defined ADXRS150 #if defined ADC_CHANNEL_GYRO_TEMP
adc_buf_channel(ADC_CHANNEL_GYRO_TEMP, &buf_temp, ADC_CHANNEL_GYRO_NB_SAMPLES); adc_buf_channel(ADC_CHANNEL_GYRO_TEMP, &buf_temp, ADC_CHANNEL_GYRO_NB_SAMPLES);
#elif defined IDG300 #endif
#if defined ADC_CHANNEL_GYRO_PITCH
adc_buf_channel(ADC_CHANNEL_GYRO_PITCH, &buf_pitch, ADC_CHANNEL_GYRO_NB_SAMPLES); adc_buf_channel(ADC_CHANNEL_GYRO_PITCH, &buf_pitch, ADC_CHANNEL_GYRO_NB_SAMPLES);
#endif #endif
} }
@@ -61,10 +64,11 @@ void gyro_init( void) {
void gyro_update( void ) { void gyro_update( void ) {
float pitch_rate = 0.; float pitch_rate = 0.;
roll_rate_adc = (buf_roll.sum/buf_roll.av_nb_sample) - GYRO_ADC_ROLL_NEUTRAL; roll_rate_adc = (buf_roll.sum/buf_roll.av_nb_sample) - GYRO_ADC_ROLL_NEUTRAL;
#ifdef ADXRS150 #if defined ADC_CHANNEL_GYRO_TEMP
temp_comp = buf_temp.sum/buf_temp.av_nb_sample - GYRO_ADC_TEMP_NEUTRAL; temp_comp = buf_temp.sum/buf_temp.av_nb_sample - GYRO_ADC_TEMP_NEUTRAL;
roll_rate_adc += GYRO_ADC_TEMP_SLOPE * temp_comp; roll_rate_adc += GYRO_ADC_TEMP_SLOPE * temp_comp;
#elif defined IDG300 #endif
#if defined IDG300
pitch_rate_adc = buf_pitch.sum/buf_pitch.av_nb_sample - GYRO_ADC_PITCH_NEUTRAL; pitch_rate_adc = buf_pitch.sum/buf_pitch.av_nb_sample - GYRO_ADC_PITCH_NEUTRAL;
pitch_rate = GYRO_PITCH_DIRECTION * RadiansOfADC(pitch_rate_adc, GYRO_PITCH_SCALE); pitch_rate = GYRO_PITCH_DIRECTION * RadiansOfADC(pitch_rate_adc, GYRO_PITCH_SCALE);
#endif #endif