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Ignore whitespace Rev 2098 → Rev 2099

/branches/dongfang_FC_fixedwing/ADXRS610_FC2.0.c
1,69 → 1,19
#include "ADXRS610_FC2.0.h"
#include "configuration.h"
 
const uint8_t GYRO_QUADRANT = 3;
//const uint8_t ACC_QUADRANT = 0;
 
const uint8_t YAW_GYRO_REVERSED = 0;
const uint8_t PR_GYROS_ORIENTATION_REVERSED = 0;
 
const uint8_t Z_ACC_REVERSED = 0;
 
void gyro_calibrate(void) {
// Nothing to calibrate.
}
 
void gyro_setDefaults(void) {
staticParams.DriftComp = 0;
staticParams.GyroAccFactor = 1;
staticParams.GyroAccTrim = 1;
void gyro_init(void) {
// No amplifiers, no DAC.
}
 
/*
 
normal 1rev 2rev
 
1 0 -1 0 1 0
0 1 0 1 0 -1
 
45
1 -1 -1 -1 1 1
1 1 -1 1 1 -1
 
90
0 -1 0 -1 0 1
1 0 -1 0 1 0
 
135
-1 -1 1 -1 -1 1
1 -1 -1 -1 1 1
 
180
-1 0 1 0 -1 0
0 -1 0 -1 0 1
 
225
-1 1 1 1 -1 -1
-1 -1 1 -1 -1 1
 
270
0 1 0 1 0 -1
-1 0 1 0 -1 0
 
315
1 1 -1 1 1 -1
-1 1 1 1 -1 -1
 
 
0,0: 1,1,0,-1,-1,-1,0,1 paddp = tab[n]
0,1: 0,-1,-1,-1,0,1,1,1 paddr = tab[n+2]
1,0: 0,1,1,1,0,-1,-1,-1 raddp = tab[n+6]
1,1: 1,1,0,-1,-1,-1,0,1 raddr = tab[n]
 
reverse:
0,0: -1,-1,0,1,1,1,0,-1 paddp = tab[n+4]
0,1: 0,-1,-1,-1,0,1,1,1 (same)= tab[n+2]
1,0: 0,-1,-1,-1,0,1,1,1 raddp = tab[n+2]
1,1: 1,1,0,-1,-1,-1,0,1 (same)= tab[n]
 
= 1rev[n-4] = 1rev[n+4]
*/
void gyro_setDefaultParameters(void) {
IMUConfig.accQuadrant = 4;
IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_XY;
staticParams.gyroD = 5;
IMUConfig.driftCompDivider = 1;
IMUConfig.driftCompLimit = 3;
IMUConfig.zerothOrderCorrection = 1;
}