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• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/invenSense.c @ 1645

  → /branches/dongfang_FC_rewrite/invenSense.c @ 1646

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• Compare Path:	Rev

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Ignore whitespace Rev 1645 → Rev 1646

/branches/dongfang_FC_rewrite/invenSense.c
4,12 → 4,17
#include <avr/io.h>
/*
* Configuration for my prototype board with InvenSense gyros.
* The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
*/
const uint8_t GYRO_REVERSED[3] = {0,0,0};
const uint8_t ACC_REVERSED[3] = {0,0,1};
#define AUTOZERO_PORT PORTD
#define AUTOZERO_DDR DDRD
#define AUTOZERO_BIT 5
const uint8_t GYROS_REVERSE[2] = {0,0};
void gyro_calibrate() {
// If port not already set to output and high, do it.
if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) {
29,7 → 34,7
void gyro_setDefaults(void) {
staticParams.GyroD = 3;
staticParams.GyroAccFactor = 1;
staticParams.DriftComp = 1;
staticParams.DriftComp = 10;
// Not used.
staticParams.AngleTurnOverPitch = 85;