src/main/sensors/acceleration_init.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "platform.h"
  24
  25 #include "sensors/acceleration.h"
  26
  27
  28 typedef struct accelerationRuntime_s {
  29     uint16_t accLpfCutHz;
  30     biquadFilter_t accFilter[XYZ_AXIS_COUNT];
  31     flightDynamicsTrims_t *accelerationTrims;
  32     int accumulatedMeasurementCount;
  33     float accumulatedMeasurements[XYZ_AXIS_COUNT];
  34     uint16_t calibratingA;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
  35 } accelerationRuntime_t;
  36
  37 extern accelerationRuntime_t accelerationRuntime;
  38
  39 void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);
  40 void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);