| 51,7 → 51,7 |
|---|
| * to be centered on zero. |
| */ |
| sensorOffset_t gyroOffset; |
| int16_t airpressureOffset; |
| uint16_t airpressureOffset; |
| |
| /* |
| * In the MK coordinate system, nose-down is positive and left-roll is positive. |
| 119,7 → 119,7 |
|---|
| * So the initial value of 100 is for 9.7 volts. |
| */ |
| uint16_t UBat = 100; |
| uint16_t airspeed = 0; |
| uint16_t airspeedVelocity = 0; |
| |
| /* |
| * Control and status. |
| 371,7 → 371,7 |
|---|
| void analog_update(void) { |
| analog_updateGyros(); |
| // analog_updateAccelerometers(); |
| analog_updateAirPressure(); |
| analog_updateAirspeed(); |
| analog_updateBatteryVoltage(); |
| #ifdef USE_MK3MAG |
| magneticHeading = volatileMagneticHeading; |
| 418,7 → 418,7 |
|---|
| } |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset.offsets[axis] = (offsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| int16_t min = (512-200) * GYRO_OVERSAMPLING; |
| int16_t max = (512+200) * GYRO_OVERSAMPLING; |
| if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
| 428,7 → 428,7 |
|---|
| airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| int16_t min = 200; |
| int16_t max = (1024-200) * 2; |
| if(airpressure < min || airpressure > max) |
| if(airpressureOffset < min || airpressureOffset > max) |
| versionInfo.hardwareErrors[0] |= FC_ERROR0_PRESSURE; |
| |
| gyroOffset_writeToEEProm(); |