| 296,7 → 296,7 |
|---|
| } |
| |
| // 2) Apply sign and offset, scale before filtering. |
| tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
| tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
| } |
| |
| // 2.1: Transform axes. |
| 320,7 → 320,7 |
|---|
| gyro_PID[axis] = tempOffsetGyro[axis]; |
| |
| // Prepare tempOffsetGyro for next calculation below... |
| tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
| tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
| } |
| |
| /* |