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C++ gyro_t类代码示例

本文整理汇总了C++中gyro_t类的典型用法代码示例。如果您正苦于以下问题：C++ gyro_t类的具体用法？C++ gyro_t怎么用？C++ gyro_t使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。


在下文中一共展示了gyro_t类的14个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: getMpuDataStatus

bool getMpuDataStatus(gyro_t *gyro)
{
    bool mpuDataStatus;
    if (!gyro->intStatus)
      return false;
    gyro->intStatus(&mpuDataStatus);
    return mpuDataStatus;
}
开发者ID:KiteAnton，项目名称:betaflight，代码行数:8，代码来源:gyro_sync.c

示例2: sensorsAutodetect

bool sensorsAutodetect(void)
{
    memset(&acc, 0, sizeof(acc));
    memset(&gyro, 0, sizeof(gyro));

#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(sensorSelectionConfig()->acc_hardware);
    detectBaro(sensorSelectionConfig()->baro_hardware);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init(gyroConfig()->gyro_lpf);

#ifdef MAG
    detectMag(sensorSelectionConfig()->mag_hardware);
#endif

    reconfigureAlignment(sensorAlignmentConfig());

    return true;
}
开发者ID:AquaSoftware，项目名称:betaflight，代码行数:34，代码来源:initialisation.c

示例3: sensorsInit

void sensorsInit(void)
{
    zeroSensorAccumulators();

    // TODO allow user to select hardware if there are multiple choices

    if(mpu6050Detect(&gyro, &accel, cfg.mpu6050Scale)) {
        sensorsSet(SENSOR_ACC);
    } else if(!mpu3050Detect(&gyro)) {
        failureMode(3);
    }

    if(adxl345Detect(&accel)) {
        sensorsSet(SENSOR_ACC);
    }

    // At the moment we will do this after mpu6050 and overrride mpu6050 accel if detected
    if(mma8452Detect(&accel)) {
        sensorsSet(SENSOR_ACC);
    }

    gyro.init();

    if(sensorsGet(SENSOR_ACC))
        accel.init();

    if(hmc5883Detect(&mag)) {
        mag.init();
        sensorsSet(SENSOR_MAG);
    }

#ifdef SONAR
    if(feature(FEATURE_PPM);) {
开发者ID:Zero3nna，项目名称:Optima-PPM，代码行数:33，代码来源:sensors.c

示例4: gyroSample

void gyroSample(void)
{
    uint8_t i;
    gyro.read(sensorData.gyro);

    for(i = 0; i < 3; ++i)
        sensorData.gyroAccum[i] += sensorData.gyro[i] - sensorParams.gyroRTBias[i];

    sensorData.gyroSamples++;
}
开发者ID:Zero3nna，项目名称:Optima-PPM，代码行数:10，代码来源:sensors.c

示例5: sensorsAutodetect

bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
        int16_t magDeclinationFromConfig,
        uint32_t looptime, uint8_t gyroSync, uint8_t gyroSyncDenominator) {

    int16_t deg, min;

#ifndef MAG
    UNUSED(magHardwareToUse);
#endif
    memset(&acc, 0, sizeof(acc));
    memset(&gyro, 0, sizeof(gyro));

#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(accHardwareToUse);
    detectBaro(baroHardwareToUse);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyroUpdateSampleRate(looptime, gyroLpf, gyroSync, gyroSyncDenominator);   // Set gyro sampling rate divider before initialization
    gyro.init(gyroLpf);

#ifdef MAG
    detectMag(magHardwareToUse);
#endif

    reconfigureAlignment(sensorAlignmentConfig);

    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
    if (sensors(SENSOR_MAG)) {
        // calculate magnetic declination
        deg = magDeclinationFromConfig / 100;
        min = magDeclinationFromConfig % 100;

        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    } else {
        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
    }

    return true;
}
开发者ID:elf128，项目名称:cleanflight，代码行数:53，代码来源:initialisation.c

示例6: gyroGetADC

void gyroGetADC(void)
{
    // FIXME When gyro.read() fails due to i2c or other error gyroZero is continually re-applied to gyroADC resulting in a old reading that gets worse over time.

    // range: +/- 8192; +/- 2000 deg/sec
    gyro.read(gyroADC);
    alignSensors(gyroADC, gyroADC, gyroAlign);

    if (!isGyroCalibrationComplete()) {
        performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
    }

    applyGyroZero();
}
开发者ID:BrooklynUAV，项目名称:cleanflight，代码行数:14，代码来源:gyro.c

示例7: gyroUpdate

void gyroUpdate(void)
{
    int16_t gyroADCRaw[XYZ_AXIS_COUNT];

    // range: +/- 8192; +/- 2000 deg/sec
    if (!gyro.read(gyroADCRaw)) {
        return;
    }

    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
        gyroADC[axis] = gyroADCRaw[axis];
    }

    alignSensors(gyroADC, gyroADC, gyroAlign);

    if (!isGyroCalibrationComplete()) {
        performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);
    }

    applyGyroZero();

    if (gyroSoftLpfHz) {
        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {

            if (debugMode == DEBUG_GYRO)
                debug[axis] = gyroADC[axis];

            if (gyroSoftLpfType == FILTER_BIQUAD)
                gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], (float) gyroADC[axis]);
            else if (gyroSoftLpfType == FILTER_PT1)
                gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], (float) gyroADC[axis], gyroSoftLpfHz, gyroDt);
            else
                gyroADCf[axis] = firFilterDenoiseUpdate(&gyroDenoiseState[axis], (float) gyroADC[axis]);

            if (debugMode == DEBUG_NOTCH)
                debug[axis] = lrintf(gyroADCf[axis]);

            if (gyroSoftNotchHz1)
                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_1[axis], gyroADCf[axis]);

            if (gyroSoftNotchHz2)
                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_2[axis], gyroADCf[axis]);

            gyroADC[axis] = lrintf(gyroADCf[axis]);
        }
    } else {
        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
            gyroADCf[axis] = gyroADC[axis];
    }
}
开发者ID:AlienWiiBF，项目名称:betaflight，代码行数:50，代码来源:gyro.c

示例8: sensorsAutodetect

bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
        int16_t magDeclinationFromConfig) {

    int16_t deg, min;

    memset(&acc, 0, sizeof(acc));
    memset(&gyro, 0, sizeof(gyro));

#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(accHardwareToUse);
    detectBaro(baroHardwareToUse);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init(&acc);

    gyro.init(gyroLpf);

    detectMag(magHardwareToUse);

    reconfigureAlignment(sensorAlignmentConfig);

    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
    if (sensors(SENSOR_MAG)) {
        // calculate magnetic declination
        deg = magDeclinationFromConfig / 100;
        min = magDeclinationFromConfig % 100;

        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    } else {
        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
    }

    return true;
}
开发者ID:inturbo，项目名称:inav，代码行数:46，代码来源:initialisation.c

示例9: gyroUpdate

void gyroUpdate(void)
{
    // range: +/- 8192; +/- 2000 deg/sec
    if (!gyro.read(gyroADCRaw)) {
        return;
    }

    gyroADC[X] = gyroADCRaw[X];
    gyroADC[Y] = gyroADCRaw[Y];
    gyroADC[Z] = gyroADCRaw[Z];

    alignSensors(gyroADC, gyroADC, gyroAlign);

    if (!isGyroCalibrationComplete()) {
        performAcclerationCalibration(gyroConfig()->gyroMovementCalibrationThreshold);
    }

    gyroADC[X] -= gyroZero[X];
    gyroADC[Y] -= gyroZero[Y];
    gyroADC[Z] -= gyroZero[Z];

    if (gyroConfig()->gyro_soft_lpf_hz) {
        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {

            if (debugMode == DEBUG_GYRO)
                debug[axis] = gyroADC[axis];

            if (gyroConfig()->gyro_soft_type == FILTER_BIQUAD)
                gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], (float) gyroADC[axis]);
            else
                gyroADCf[axis] = pt1FilterApply(&gyroFilterPt1[axis], (float) gyroADC[axis]);

            if (debugMode == DEBUG_NOTCH)
                debug[axis] = lrintf(gyroADCf[axis]);

            if (gyroConfig()->gyro_soft_notch_hz)
                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch[axis], gyroADCf[axis]);

            gyroADC[axis] = lrintf(gyroADCf[axis]);
        }
    } else {
        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
            gyroADCf[axis] = gyroADC[axis];
        }
    }
}
开发者ID:FenomPL，项目名称:cleanflight，代码行数:46，代码来源:gyro.c

示例10: sensorsAutodetect

bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
{
    int16_t deg, min;
    memset(&acc, sizeof(acc), 0);
    memset(&gyro, sizeof(gyro), 0);

    if (!detectGyro(gyroLpf)) {
        return false;
    }
    detectAcc(accHardwareToUse);
    detectBaro();

    reconfigureAlignment(sensorAlignmentConfig);

    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init();

#ifdef MAG
    if (hmc5883lDetect()) {
        magAlign = CW180_DEG; // default NAZE alignment
    } else {
        sensorsClear(SENSOR_MAG);
    }
#endif

    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
    if (sensors(SENSOR_MAG)) {
        // calculate magnetic declination
        deg = magDeclinationFromConfig / 100;
        min = magDeclinationFromConfig % 100;

        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    } else {
        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
    }

    return true;
}
开发者ID:airmamaf，项目名称:cleanflight，代码行数:41，代码来源:initialisation.c

示例11: gyroUpdate

void gyroUpdate(void)
{
    int8_t axis;

    // range: +/- 8192; +/- 2000 deg/sec
    if (!gyro.read(gyroADCRaw)) {
        return;
    }

    // Prepare a copy of int32_t gyroADC for mangling to prevent overflow
    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = gyroADCRaw[axis];

    if (gyroLpfCutHz) {
        if (!gyroFilterInitialised) {
            if (targetLooptime) {  /* Initialisation needs to happen once sample rate is known */
                for (axis = 0; axis < 3; axis++) {
                    filterInitBiQuad(gyroLpfCutHz, &gyroFilterState[axis], 0);
                }

                gyroFilterInitialised = true;
            }
        }

        if (gyroFilterInitialised) {
            for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
                gyroADC[axis] = lrintf(filterApplyBiQuad((float) gyroADC[axis], &gyroFilterState[axis]));
            }
        }
    }

    alignSensors(gyroADC, gyroADC, gyroAlign);

    if (!isGyroCalibrationComplete()) {
        performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
    }

    applyGyroZero();
}
开发者ID:Fritztrex，项目名称:inav，代码行数:38，代码来源:gyro.c

示例12: gyroUpdate

void gyroUpdate(void)
{
    // range: +/- 8192; +/- 2000 deg/sec
    if (!gyro.read(gyroADC)) {
        return;
    }

    alignSensors(gyroADC, gyroADC, gyroAlign);

    if (gyroLpfCutFreq) {
        if (!gyroFilterStateIsSet) {
            initGyroFilterCoefficients();
        } else {
        	for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], &gyroBiQuadState[axis]));
        }
    }

    if (!isGyroCalibrationComplete()) {
        performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
    }

    applyGyroZero();
}
开发者ID:AXH2O，项目名称:raceflight，代码行数:23，代码来源:gyro.c

示例13: detectAcc

static void detectAcc(accelerationSensor_e accHardwareToUse)
{
    accelerationSensor_e accHardware;

    #ifdef USE_ACC_ADXL345
    drv_adxl345_config_t acc_params;
#endif

retry:
    accAlign = ALIGN_DEFAULT;

    switch (accHardwareToUse) {
        case ACC_DEFAULT:
            ; // fallthrough
        case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
            acc_params.useFifo = false;
            acc_params.dataRate = 800; // unused currently
#ifdef NAZE
            if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) {
#else
            if (adxl345Detect(&acc_params, &acc)) {
#endif
#ifdef ACC_ADXL345_ALIGN
                accAlign = ACC_ADXL345_ALIGN;
#endif
                accHardware = ACC_ADXL345;
                break;
            }
#endif
            ; // fallthrough
        case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
            if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
                accAlign = ACC_LSM303DLHC_ALIGN;
#endif
                accHardware = ACC_LSM303DLHC;
                break;
            }
#endif
            ; // fallthrough
        case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
            if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
#ifdef ACC_MPU6050_ALIGN
                accAlign = ACC_MPU6050_ALIGN;
#endif
                accHardware = ACC_MPU6050;
                break;
            }
#endif
            ; // fallthrough
        case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
            // Not supported with this frequency
            if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
#else
            if (mma8452Detect(&acc)) {
#endif
#ifdef ACC_MMA8452_ALIGN
                accAlign = ACC_MMA8452_ALIGN;
#endif
                accHardware = ACC_MMA8452;
                break;
            }
#endif
            ; // fallthrough
        case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
            if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
                accAlign = ACC_BMA280_ALIGN;
#endif
                accHardware = ACC_BMA280;
                break;
            }
#endif
            ; // fallthrough
        case ACC_SPI_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
            if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
                accAlign = ACC_SPI_MPU6000_ALIGN;
#endif
                accHardware = ACC_SPI_MPU6000;
                break;
            }
#endif
            ; // fallthrough
        case ACC_SPI_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
#ifdef NAZE
            if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
#else
            if (mpu6500SpiAccDetect(&acc)) {
#endif
#ifdef ACC_SPI_MPU6500_ALIGN
                accAlign = ACC_SPI_MPU6500_ALIGN;
//.........这里部分代码省略.........
开发者ID:MythicMadTesla，项目名称:cleanflight，代码行数:101，代码来源:initialisation.c

示例14: gyroSyncCheckUpdate

bool gyroSyncCheckUpdate(void) {
    return gyro.isDataReady && gyro.isDataReady();
}
开发者ID:cklam2，项目名称:cleanflight，代码行数:3，代码来源:gyro_sync.c


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