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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _INVENSENSE_H |
| 2 | #define _INVENSENSE_H |
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| 3 | |||
| 4 | #include "sensors.h" |
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| 5 | |||
| 6 | #define GYRO_HW_NAME "ISens" |
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| 1646 | - | 7 | |
| 1612 | dongfang | 8 | /* |
| 9 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
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| 10 | * but they have a wider range too. |
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| 11 | * 2mV/deg/s gyros and no amplifiers: |
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| 12 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
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| 13 | */ |
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| 14 | #define GYRO_HW_FACTOR 0.6827f |
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| 15 | |||
| 16 | /* |
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| 17 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
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| 18 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
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| 19 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
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| 20 | * make any adjustments here. It is only for luxury. |
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| 21 | */ |
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| 22 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
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| 23 | |||
| 24 | /* |
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| 25 | * Same for yaw. |
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| 26 | */ |
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| 27 | #define GYRO_YAW_CORRECTION 0.97f |
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| 28 | |||
| 29 | #endif |