| 2,8 → 2,9 |
|---|
| #define _ANALOG_H |
| #include <inttypes.h> |
| |
| // #include "invenSense.h" |
| #include "ENC-03_FC1.3.h" |
| //#include "invenSense.h" |
| //#include "ENC-03_FC1.3.h" |
| #include "ADXRS610_FC2.0.h" |
| |
| /* |
| * How much low pass filtering to apply for gyro_PID. |
| 10,7 → 11,7 |
|---|
| * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
| * Temporarily replaced by userparam-configurable variable. |
| */ |
| #define GYROS_PIDFILTER 1 |
| // #define GYROS_PID_FILTER 1 |
| |
| /* |
| * How much low pass filtering to apply for gyro_ATT. |
| 17,10 → 18,10 |
|---|
| * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
| * Temporarily replaced by userparam-configurable variable. |
| */ |
| #define GYROS_INTEGRALFILTER 1 |
| // #define GYROS_ATT_FILTER 1 |
| |
| // Temporarily replaced by userparam-configurable variable. |
| //#define ACC_FILTER 4 |
| // #define ACC_FILTER 4 |
| |
| /* |
| About setting constants for different gyros: |
| 28,7 → 29,10 |
|---|
| The "Positive direction" is the rotation direction around an axis where |
| the corresponding gyro outputs a voltage > the no-rotation voltage. |
| A gyro is considered, in this code, to be "forward" if its positive |
| direction is the same as in FC1.0-1.3, and reverse otherwise. |
| direction is: |
| - Nose down for pitch |
| - Left hand side down for roll |
| - Clockwise seen from above for yaw. |
| Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
| GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
| |
| 100,6 → 104,9 |
|---|
| #define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
| #define GYRO_SUMMATION_FACTOR_YAW 2 |
| |
| #define ACC_SUMMATION_FACTOR_PITCHROLL 2 |
| #define ACC_SUMMATION_FACTOR_Z 1 |
| |
| /* |
| Integration: |
| The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
| 160,6 → 167,8 |
|---|
| |
| #define PITCH 0 |
| #define ROLL 1 |
| #define YAW 2 |
| #define Z 2 |
| /* |
| * The values that this module outputs |
| * These first 2 exported arrays are zero-offset. The "PID" ones are used |
| 180,12 → 189,12 |
|---|
| /* |
| * This is not really for external use - but the ENC-03 gyro modules needs it. |
| */ |
| extern volatile int16_t rawGyroSum[2], rawYawGyroSum; |
| extern volatile int16_t rawGyroSum[3]; |
| |
| /* |
| * The acceleration values that this module outputs. They are zero based. |
| */ |
| extern volatile int16_t acc[2], ZAcc; |
| extern volatile int16_t acc[3]; |
| extern volatile int16_t filteredAcc[2]; |
| |
| /* |