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Rev 1910 Rev 2025
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/*
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/*
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 * Configuration for my prototype board with InvenSense gyros.
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 * Configuration for my prototype board with InvenSense gyros.
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 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
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 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
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 */
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const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 };
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const uint8_t ACC_REVERSED[3] = { 0, 0, 1 };
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 */
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const uint8_t AXIS_TRANSFORM = 0;
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PR_GYROS_ORIENTATION_REVERSED = 0;
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#define AUTOZERO_PORT PORTD
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#define AUTOZERO_PORT PORTD
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        // Delay_ms(10);
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        // Delay_ms(10);
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        delay_ms_Mess(100);
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        delay_ms_Mess(100);
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}
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}
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void gyro_setDefaults(void) {
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void gyro_setDefaults(void) {
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        staticParams.GyroAccFactor = 1;
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        staticParams.zerothOrderGyroCorrectionFactorx1000 = 1;
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        staticParams.DriftComp = 3;
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        staticParams.secondOrderGyroCorrectionDivisor = 2;
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    staticParams.GyroAccTrim = 2;
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        staticParams.secondOrderGyroCorrectionLimit = 3;