| 37,9 → 37,9 |
|---|
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| if (axis == YAW) |
| factor = GYRO_SUMMATION_FACTOR_YAW; |
| factor = GYRO_OVERSAMPLING_YAW; |
| else |
| factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| factor = GYRO_OVERSAMPLING_PITCHROLL; |
| |
| if (rawGyroValue(axis) < 510 * factor) |
| gyroAmplifierOffset.offsets[axis]--; |
| 66,7 → 66,7 |
|---|
| |
| void gyro_init() { |
| if (gyroAmplifierOffset_readFromEEProm()) { |
| printf("gyro amp invalid%s", recal); |
| printf("gyro amp invalid, recalibrate."); |
| gyroAmplifierOffset.offsets[PITCH] = |
| gyroAmplifierOffset.offsets[ROLL] = |
| gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |