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Rev 1971 Rev 2018
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#ifndef _SENSORS_H
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#ifndef _SENSORS_H
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#define _SENSORS_H
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#define _SENSORS_H
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#include <inttypes.h>
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#include <inttypes.h>
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#include "configuration.h"
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#include "configuration.h"
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/*
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 * Whether (pitch, roll, yaw) gyros are reversed (see analog.h).
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 */
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extern const uint8_t GYRO_REVERSED[3];
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/*
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 * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h).
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 */
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extern const uint8_t ACC_REVERSED[3];
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extern sensorOffset_t gyroAmplifierOffset;
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extern sensorOffset_t gyroAmplifierOffset;
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/*
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/*
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 * Common procedures for all gyro types.
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 * Common procedures for all gyro types.
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 * FC 1.3 hardware: Searching the DAC values that return neutral readings.
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 * FC 1.3 hardware: Searching the DAC values that return neutral readings.
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 * FC 2.0 hardware: Nothing to do.
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 * FC 2.0 hardware: Nothing to do.
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 * InvenSense hardware: Output a pulse on the AUTO_ZERO line.
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 * InvenSense hardware: Output a pulse on the AUTO_ZERO line.
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 */
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 */
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void gyro_calibrate(void);
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void gyro_calibrate(void);
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/*
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/*
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 * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing.
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 * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing.
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 */
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 */
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void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults);
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void gyro_init(void);
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/*
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/*
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 * Set some default FC parameters, depending on gyro type: Drift correction etc.
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 * Set some default FC parameters, depending on gyro type: Drift correction etc.
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 */
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 */
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void gyro_setDefaultParameters(void);
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void gyro_setDefaultParameters(void);
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#endif
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#endif
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