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| Rev 2124 | Rev 2125 | ||
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| 6 | #include "analog.h" |
6 | #include "analog.h" |
| 7 | #include "attitude.h" |
7 | #include "attitude.h" |
| 8 | #include "printf_P.h" |
8 | #include "printf_P.h" |
| 9 | #include "isqrt.h" |
9 | #include "isqrt.h" |
| 10 | #include "sensors.h" |
10 | #include "sensors.h" |
| - | 11 | #include "configuration.h" |
|
| Line 11... | Line 12... | ||
| 11 | 12 | ||
| 12 | // for Delay functions |
13 | // for Delay functions |
| Line 13... | Line 14... | ||
| 13 | #include "timer0.h" |
14 | #include "timer0.h" |
| Line 293... | Line 294... | ||
| 293 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
294 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
| 294 | } |
295 | } |
| 295 | } |
296 | } |
| Line 296... | Line 297... | ||
| 296 | 297 | ||
| 297 | // 2) Apply sign and offset, scale before filtering. |
298 | // 2) Apply sign and offset, scale before filtering. |
| 298 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
299 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
| Line 299... | Line 300... | ||
| 299 | } |
300 | } |
| 300 | 301 | ||
| Line 317... | Line 318... | ||
| 317 | 318 | ||
| 318 | // 6) Done. |
319 | // 6) Done. |
| Line 319... | Line 320... | ||
| 319 | gyro_PID[axis] = tempOffsetGyro[axis]; |
320 | gyro_PID[axis] = tempOffsetGyro[axis]; |
| 320 | 321 | ||
| 321 | // Prepare tempOffsetGyro for next calculation below... |
322 | // Prepare tempOffsetGyro for next calculation below... |
| Line 322... | Line 323... | ||
| 322 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
323 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
| 323 | } |
324 | } |
| 324 | 325 | ||
| Line 373... | Line 374... | ||
| 373 | void analog_update(void) { |
374 | void analog_update(void) { |
| 374 | analog_updateGyros(); |
375 | analog_updateGyros(); |
| 375 | // analog_updateAccelerometers(); |
376 | // analog_updateAccelerometers(); |
| 376 | analog_updateAirspeed(); |
377 | analog_updateAirspeed(); |
| 377 | analog_updateBatteryVoltage(); |
378 | analog_updateBatteryVoltage(); |
| 378 | #ifdef USE_MK3MAG |
- | |
| 379 | magneticHeading = volatileMagneticHeading; |
- | |
| 380 | #endif |
- | |
| 381 | } |
379 | } |
| Line 382... | Line 380... | ||
| 382 | 380 | ||
| 383 | void analog_setNeutral() { |
381 | void analog_setNeutral() { |
| Line 384... | Line 382... | ||
| 384 | gyro_init(); |
382 | gyro_init(); |
| 385 | 383 | ||
| 386 | if (gyroOffset_readFromEEProm()) { |
384 | if (gyroOffset_readFromEEProm()) { |
| 387 | printf("gyro offsets invalid%s",recal); |
385 | printf("gyro offsets invalid%s",recal); |
| - | 386 | gyroOffset.offsets[PITCH] = 0x0721-3; |
|
| 388 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
387 | gyroOffset.offsets[ROLL] = 0x0721-15; |
| Line 389... | Line 388... | ||
| 389 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
388 | gyroOffset.offsets[YAW] = 0x0CD9+12; // these are practical values from my gyros :) |
| 390 | } |
389 | } |
| 391 | 390 | ||