| 0,0 → 1,41 |
|---|
| #ifndef _INVENSENSE_H |
| #define _INVENSENSE_H |
| |
| #include "sensors.h" |
| |
| #define GYRO_HW_NAME "ISens" |
| |
| /* |
| * Configuration for my prototype board with InvenSense gyros. |
| * The FC 1.3 board is installed upside down, therefore 2 acc. meters are reversed. |
| */ |
| #define ACC_REVERSE_ROLLAXIS yes |
| #define ACC_REVERSE_ZAXIS yes |
| |
| /* |
| * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
| * but they have a wider range too. |
| * 2mV/deg/s gyros and no amplifiers: |
| * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| */ |
| #define GYRO_HW_FACTOR 0.6827f |
| |
| /* |
| * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
| * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
| * If the hardware related contants are set correctly, flight should be OK without bothering to |
| * make any adjustments here. It is only for luxury. |
| */ |
| #define GYRO_PITCHROLL_CORRECTION 0.93f |
| |
| /* |
| * Same for yaw. |
| */ |
| #define GYRO_YAW_CORRECTION 0.97f |
| |
| /* |
| * Yaw axis is reverse. |
| */ |
| #define GYRO_REVERSE_YAW yes |
| |
| #endif |