| /branches/dongfang_FC_fixedwing/analog.c |
|---|
| 296,7 → 296,7 |
| } |
| // 2) Apply sign and offset, scale before filtering. |
| tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
| tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
| } |
| // 2.1: Transform axes. |
| 320,7 → 320,7 |
| gyro_PID[axis] = tempOffsetGyro[axis]; |
| // Prepare tempOffsetGyro for next calculation below... |
| tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
| tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
| } |
| /* |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.c |
|---|
| 140,9 → 140,6 |
| IMUConfig.gyroDWindowLength = 3; |
| IMUConfig.gyroQuadrant = 4; |
| IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_PR; |
| IMUConfig.gyroCalibrationTweak[0] = |
| IMUConfig.gyroCalibrationTweak[1] = |
| IMUConfig.gyroCalibrationTweak[2] = 0; |
| } |
| /***************************************************/ |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.h |
|---|
| 41,7 → 41,6 |
| uint8_t gyroActivityDamping; |
| uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t driftCompLimit; // limit for gyrodrift compensation |
| int8_t gyroCalibrationTweak[3]; |
| } IMUConfig_t; |
| extern IMUConfig_t IMUConfig; |
| /branches/dongfang_FC_fixedwing/configuration.c |
|---|
| 198,10 → 198,6 |
| IMUConfig.gyroQuadrant = 2; |
| IMUConfig.imuReversedFlags = 0; |
| IMUConfig.gyroCalibrationTweak[0] = |
| IMUConfig.gyroCalibrationTweak[1] = |
| IMUConfig.gyroCalibrationTweak[2] = 0; |
| gyro_setDefaultParameters(); |
| } |
| /branches/dongfang_FC_fixedwing/configuration.h |
|---|
| 41,7 → 41,6 |
| uint8_t gyroActivityDamping; |
| uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t driftCompLimit; // limit for gyrodrift compensation |
| int8_t gyroCalibrationTweak[3]; |
| } IMUConfig_t; |
| extern IMUConfig_t IMUConfig; |