small angles 25deg alternative solution

[timecop]

How about replacing current version that uses unfiltered acc data with something like this?
https://code.google.com/p/afrodevices/s ... ail?r=415#

[Alexinparis]

I take it

[timecop]

> #define ACCZ_25deg (uint16_t)(ACC_1G * cos(3.1415927/180*25))
On tarduino, you probably just wanna precalculate the cos(25) part as 0.90631 or something, leaving a clear comment where it came from (cos(theta) of accZ)

[scrat]

So this means that quad must be almost flat when powering or?

[timecop]

This is optimization for old feature that's been present since long time ago. It doesn't change any functionality.

[Mis]

But this optimisation is buggy.
If the copter is upside down, the f.SMALL_ANGLES_25 is 1, but should be 0.

Propper code (remove abs):

Code: Select all

  if ((int16_t)EstG32.A[2] > ACCZ_25deg)
    f.SMALL_ANGLES_25 = 1;
  else
    f.SMALL_ANGLES_25 = 0;

[timecop]

I just noticed same problem yesterday as I was holding copter fully upside down.
Time to fix