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| Rev 1987 | Rev 1991 | ||
|---|---|---|---|
| Line 282... | Line 282... | ||
| 282 | 282 | ||
| 283 | void analog_updateGyros(void) { |
283 | void analog_updateGyros(void) { |
| 284 | // for various filters... |
284 | // for various filters... |
| Line -... | Line 285... | ||
| - | 285 | int16_t tempOffsetGyro, tempGyro; |
|
| 285 | int16_t tempOffsetGyro, tempGyro; |
286 | |
| 286 | 287 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
|
| Line 287... | Line 288... | ||
| 287 | for (uint8_t axis=0; axis<2; axis++) { |
288 | for (uint8_t axis=0; axis<2; axis++) { |
| 288 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
289 | tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis]; |
| Line 299... | Line 300... | ||
| 299 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
300 | tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| 300 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
301 | } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| 301 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
302 | debugOut.digital[0] |= DEBUG_SENSORLIMIT; |
| 302 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
303 | tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
| 303 | + SENSOR_MAX_PITCHROLL; |
304 | + SENSOR_MAX_PITCHROLL; |
| 304 | } else { |
- | |
| 305 | debugOut.digital[0] &= ~DEBUG_SENSORLIMIT; |
- | |
| 306 | } |
305 | } |
| 307 | } |
306 | } |
| Line 308... | Line 307... | ||
| 308 | 307 | ||
| 309 | // 2) Apply sign and offset, scale before filtering. |
308 | // 2) Apply sign and offset, scale before filtering. |