| 67,8 → 67,8 |
|---|
| * HIRES_GYRO_INTEGRATION_FACTOR (why???) before integration. |
| * The value of this expression should be about 1250 (by setting HIRES_GYRO_INTEGRATION_FACTOR to something suitable). |
| */ |
| #define GYRO_DEG_FACTOR_PITCHROLL (int)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
| #define GYRO_DEG_FACTOR_YAW (int)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
| #define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
| #define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
| |
| /* |
| * This is ([gyro integral value] / degree) / (degree / acc. sensor value) = gyro integral value / acc.sensor value |
| 107,7 → 107,7 |
|---|
| |
| /* |
| * Dynamic gyro offsets. These are signed values that are subtracted from the gyro measurements, |
| * to help cancelling out drift and vibration noise effects. The dynamic offsets themselves |
| * to help canceling out drift and vibration noise effects. The dynamic offsets themselves |
| * can be updated in flight by different ways, for example: |
| * - Just taking them from parameters, so the pilot can trim manually in a PC or mobile tool |
| * - Summing up how much acc. meter correction was done to the gyro integrals over the last n |