Merge pull request #21 from akadamson/master

added delay to startup to allow gimbal to settle
EvvGC · Nov 15, 2013 · 2d9e3f5 · 2d9e3f5
2 parents ab5e568 + 33296ae
commit 2d9e3f5
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Showing 8 changed files with 2,874 additions and 2,856 deletions.
diff --git a/built-versions/0.4/STM32Gimbal.USB.bin b/built-versions/0.4/STM32Gimbal.USB.bin
diff --git a/built-versions/0.4/STM32Gimbal.bin b/built-versions/0.4/STM32Gimbal.bin
diff --git a/built-versions/0.4/STM32Gimbal.hex b/built-versions/0.4/STM32Gimbal.hex
diff --git a/built-versions/0.4/STM32Gimbal.zip b/built-versions/0.4/STM32Gimbal.zip
diff --git a/history.md b/history.md
@@ -216,4 +216,8 @@
     - added acc007 changes for debug/desk config of board when no IMU is present
     - updated attitude with paulphil changes for pitch greater than 45 degrees
     - updated rc pwm detect for futaba receievers
-    - Released 0.4.4
+    - Released 0.4.4
+
+20131115
+    - added delay to startup to allow gimbal to settle
+    - Released 0.4.5
diff --git a/src/gyro.c b/src/gyro.c
@@ -255,7 +255,7 @@ void MPU6050_Gyro_get(float *GyroData)
 void MPU6050_Gyro_calibration(void)
 {
     uint8_t i;
-    int loops = 100;
+    int loops = 150;
     float InitGyroData[3];
 
     for (i = 0; i < loops; i++)

diff --git a/src/main.c b/src/main.c
@@ -15,6 +15,8 @@
 #include "hw_config.h"
 #include "stm32f10x_tim.h"
 
+#define SETTLE_PAUSE 20
+
 static volatile int WatchDogCounter;
 static volatile int gotIMU = 0;
 
@@ -126,6 +128,13 @@ void setup(void)
 
     if (gotIMU)
     {
+        print("pausing for the gimbal to settle...\r\n");
+
+        for (int i = 0; i < SETTLE_PAUSE; i++)
+        {
+            Delay_ms(1000);
+        }
+
         print("calibrating MPU6050 at %ums...\r\n", millis());
         MPU6050_Gyro_calibration();
 

diff --git a/src/main.h b/src/main.h
@@ -9,7 +9,7 @@
 #define MAIN_H_
 
 // software version number
-#define __EV_VERSION "0.4.4"
+#define __EV_VERSION "0.4.5"
 
 float GetIdlePerf(void);