| 8,6 → 8,7 |
|---|
| #include <inttypes.h> |
| |
| #include "analog.h" |
| #include "timer0.h" |
| |
| // For debugging only. |
| #include "uart0.h" |
| 21,7 → 22,7 |
|---|
| /* |
| * The frequency at which numerical integration takes place. 488 in original code. |
| */ |
| #define INTEGRATION_FREQUENCY 488 |
| #define INTEGRATION_FREQUENCY (uint16_t)(F_MAINLOOP) |
| |
| /* |
| * Constant for deriving an attitude angle from acceleration measurement. |
| 62,8 → 63,8 |
|---|
| */ |
| //#define GYRO_ACC_FACTOR ((GYRO_DEG_FACTOR_PITCHROLL) / (DEG_ACC_FACTOR)) |
| |
| #define OVER180 ((int32_t)GYRO_DEG_FACTOR * 180) |
| #define OVER360 ((int32_t)GYRO_DEG_FACTOR * 360) |
| #define OVER180 ((int32_t)(GYRO_DEG_FACTOR * 180.0f)) |
| #define OVER360 ((int32_t)(GYRO_DEG_FACTOR * 360.0f)) |
| |
| /* |
| * Rotation rates |