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Butterflight acc msp bbl fix #108

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merged 4 commits into from
Apr 11, 2018
Merged

Butterflight acc msp bbl fix #108

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84254ac
Fix Acc MSP BBL
adrianmiriuta Apr 11, 2018
c1c1a84
Fix Acc MSP BBL v1
adrianmiriuta Apr 11, 2018
f5ca5a7
Fix Acc MSP BBL v2
adrianmiriuta Apr 11, 2018
4e90aac
Fix Acc MSP BBL v3
adrianmiriuta Apr 11, 2018
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4 changes: 2 additions & 2 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -994,9 +994,9 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->axisPID_I[i] = axisPID_I[i];
blackboxCurrent->axisPID_D[i] = axisPID_D[i];
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->accADC[i] = acc.accADC[i];
blackboxCurrent->accADC[i] = lrintf(acc.accADC[i]);
#ifdef USE_MAG
blackboxCurrent->magADC[i] = mag.magADC[i];
blackboxCurrent->magADC[i] = lrintf(mag.magADC[i]);
#endif
}

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4 changes: 2 additions & 2 deletions src/main/interface/msp.c
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Expand Up @@ -781,13 +781,13 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
}

for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, acc.accADC[i] / scale);
sbufWriteU16(dst, lrintf(acc.accADC[i] / scale));
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroRateDps(i));
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, mag.magADC[i]);
sbufWriteU16(dst, lrintf(mag.magADC[i]));
}
}
break;
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2 changes: 1 addition & 1 deletion src/main/telemetry/frsky_hub.c
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Expand Up @@ -173,7 +173,7 @@ static void frSkyHubWriteByteInternal(const char data)
static void sendAccel(void)
{
for (unsigned i = 0; i < 3; i++) {
frSkyHubWriteFrame(ID_ACC_X + i, ((float)acc.accADC[i] / acc.dev.acc_1G) * 1000);
frSkyHubWriteFrame(ID_ACC_X + i, ((int16_t)acc.accADC[i] / acc.dev.acc_1G) * 1000);
}
}

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2 changes: 1 addition & 1 deletion src/main/telemetry/ibus_shared.c
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Expand Up @@ -310,7 +310,7 @@ static uint16_t getMode()

static int16_t getACC(uint8_t index)
{
return (int16_t)(((float)acc.accADC[index] / acc.dev.acc_1G) * 1000);
return (int16_t)((acc.accADC[index] / acc.dev.acc_1G) * 1000);
}

#if defined(USE_TELEMETRY_IBUS_EXTENDED)
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6 changes: 3 additions & 3 deletions src/main/telemetry/smartport.c
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Expand Up @@ -421,15 +421,15 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
*clearToSend = false;
break;
case FSSP_DATAID_ACCX :
smartPortSendPackage(id, 100 * acc.accADC[X] / acc.dev.acc_1G); // Multiply by 100 to show as x.xx g on Taranis
smartPortSendPackage(id, lrintf(100 * acc.accADC[X] / acc.dev.acc_1G)); // Multiply by 100 to show as x.xx g on Taranis
*clearToSend = false;
break;
case FSSP_DATAID_ACCY :
smartPortSendPackage(id, 100 * acc.accADC[Y] / acc.dev.acc_1G);
smartPortSendPackage(id, lrintf(100 * acc.accADC[Y] / acc.dev.acc_1G));
*clearToSend = false;
break;
case FSSP_DATAID_ACCZ :
smartPortSendPackage(id, 100 * acc.accADC[Z] / acc.dev.acc_1G);
smartPortSendPackage(id, lrintf(100 * acc.accADC[Z] / acc.dev.acc_1G));
*clearToSend = false;
break;
case FSSP_DATAID_T1 :
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