Rev 2018 | Rev 2026 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2018 | Rev 2019 | ||
|---|---|---|---|
| Line 35... | Line 35... | ||
| 35 | 35 | ||
| Line 36... | Line 36... | ||
| 36 | numberOfAxesInRange = 0; |
36 | numberOfAxesInRange = 0; |
| 37 | 37 | ||
| 38 | for (axis = PITCH; axis <= YAW; axis++) { |
38 | for (axis = PITCH; axis <= YAW; axis++) { |
| 39 | if (axis == YAW) |
39 | if (axis == YAW) |
| 40 | factor = GYRO_SUMMATION_FACTOR_YAW; |
40 | factor = GYRO_OVERSAMPLING_YAW; |
| Line 41... | Line 41... | ||
| 41 | else |
41 | else |
| 42 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
42 | factor = GYRO_OVERSAMPLING_PITCHROLL; |
| 43 | 43 | ||
| 44 | if (rawGyroValue(axis) < 510 * factor) |
44 | if (rawGyroValue(axis) < 510 * factor) |
| Line 64... | Line 64... | ||
| 64 | delay_ms_with_adc_measurement(70, 0); |
64 | delay_ms_with_adc_measurement(70, 0); |
| 65 | } |
65 | } |
| Line 66... | Line 66... | ||
| 66 | 66 | ||
| 67 | void gyro_init() { |
67 | void gyro_init() { |
| 68 | if (gyroAmplifierOffset_readFromEEProm()) { |
68 | if (gyroAmplifierOffset_readFromEEProm()) { |
| 69 | printf("gyro amp invalid%s", recal); |
69 | printf("gyro amp invalid, recalibrate."); |
| 70 | gyroAmplifierOffset.offsets[PITCH] = |
70 | gyroAmplifierOffset.offsets[PITCH] = |
| 71 | gyroAmplifierOffset.offsets[ROLL] = |
71 | gyroAmplifierOffset.offsets[ROLL] = |
| 72 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
72 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
| 73 | } else { |
73 | } else { |