[gentlenav] r3668 committed - MatrixPilot_helicalTurns: merge in support code for compile time optio...

[gent...@googlecode.com]

Revision: 3668
Author: robert.d...@gmail.com
Date: Fri Jul 17 00:01:35 2015 UTC
Log: MatrixPilot_helicalTurns: merge in support code for compile time
option CUSTOM_OFFSETS. thanks to Bill for spotting my omission.
https://code.google.com/p/gentlenav/source/detail?r=3668

Modified:
/branches/MatrixPilot_helicalTurns/MatrixPilot/Readme.txt
/branches/MatrixPilot_helicalTurns/Tools/MatrixPilot-SIL/module.mk
/branches/MatrixPilot_helicalTurns/libUDB/ADchannel.c
/branches/MatrixPilot_helicalTurns/libUDB/libUDB.h

=======================================
--- /branches/MatrixPilot_helicalTurns/MatrixPilot/Readme.txt Fri Dec 6
12:11:18 2013 UTC
+++ /branches/MatrixPilot_helicalTurns/MatrixPilot/Readme.txt Fri Jul 17
00:01:35 2015 UTC
@@ -11,3 +11,12 @@
For more info about how to configure and use this autopilot firmware, go
to:

http://code.google.com/p/gentlenav/
+
+This version of MatrixPilot supports a fly-by-wire control mode using
helical turn controls.
+
+For information on how to set up and operate the controls, read the
following files that will be
+either this directory or in the directory one directory up from here:
+
+RecordingSensorOffsets.pdf
+HelicalTurnControlsSetup.pdf
+AngleofAttackandElevatorTrimModelsSetup.pdf
=======================================
--- /branches/MatrixPilot_helicalTurns/Tools/MatrixPilot-SIL/module.mk Sat
Mar 14 12:45:15 2015 UTC
+++ /branches/MatrixPilot_helicalTurns/Tools/MatrixPilot-SIL/module.mk Fri
Jul 17 00:01:35 2015 UTC
@@ -2,9 +2,4 @@

local_src := $(wildcard $(SOURCE_DIR)/$(subdirectory)/*.c)

-ifneq (,$(filter $(TOOLCHAIN), C30 XC16))
-local_src += $(wildcard $(SOURCE_DIR)/$(subdirectory)/*.s)
-else
-endif
-
$(eval $(call make-target,$(subdirectory)/$(subdirectory).a,$(local_src)))
=======================================
--- /branches/MatrixPilot_helicalTurns/libUDB/ADchannel.c Sat Apr 18
15:53:51 2015 UTC
+++ /branches/MatrixPilot_helicalTurns/libUDB/ADchannel.c Fri Jul 17
00:01:35 2015 UTC
@@ -55,6 +55,15 @@
return;
#endif

+#ifdef CUSTOM_OFFSETS
+ // offsets have been measured manually and entered into the options.h file
+ udb_xaccel.offset = XACCEL_OFFSET;
+ udb_yaccel.offset = YACCEL_OFFSET;
+ udb_zaccel.offset = ZACCEL_OFFSET;
+ udb_xrate.offset = XRATE_OFFSET;
+ udb_yrate.offset = YRATE_OFFSET;
+ udb_zrate.offset = ZRATE_OFFSET;
+#else
// almost ready to turn the control on, save the input offsets
UDB_XACCEL.offset = UDB_XACCEL.value;
udb_xrate.offset = udb_xrate.value;
@@ -62,6 +71,7 @@
udb_yrate.offset = udb_yrate.value;
UDB_ZACCEL.offset = UDB_ZACCEL.value + (Z_GRAVITY_SIGN
((int16_t)(2*GRAVITY))); // same direction
udb_zrate.offset = udb_zrate.value;
+#endif // CUSTOM_OFFSETS
#ifdef VREF
udb_vref.offset = udb_vref.value;
#endif
=======================================
--- /branches/MatrixPilot_helicalTurns/libUDB/libUDB.h Wed May 6 14:48:43
2015 UTC
+++ /branches/MatrixPilot_helicalTurns/libUDB/libUDB.h Fri Jul 17 00:01:35
2015 UTC
@@ -222,11 +222,6 @@
#endif // (USE_NV_MEMORY == 1)


////////////////////////////////////////////////////////////////////////////////
-// Raw Accelerometer and Gyroscope(rate) Values
-//extern struct ADchannel udb_xaccel, udb_yaccel, udb_zaccel;// x, y, and
z accelerometer channels
-//extern struct ADchannel udb_xrate, udb_yrate, udb_zrate; // x, y, and
z gyro channels
-//extern struct ADchannel udb_vref; // reference
voltage
-//extern struct ADchannel udb_analogInputs[];

#if (ANALOG_CURRENT_INPUT_CHANNEL != CHANNEL_UNUSED)
extern union longww battery_current; // battery_current._.W1 is in
tenths of Amps