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/*
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/*
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 * How many samples are summed in one ADC loop, for pitch&roll and yaw,
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 * How many samples are summed in one ADC loop, for pitch&roll and yaw,
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 * respectively. This is = the number of occurences of each channel in the
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 * respectively. This is = the number of occurences of each channel in the
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 * channelsForStates array in analog.c.
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 * channelsForStates array in analog.c.
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 */
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 */
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#define GYRO_SUMMATION_FACTOR_PITCHROLL 4
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#define GYRO_OVERSAMPLING_PITCHROLL 4
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#define GYRO_SUMMATION_FACTOR_YAW 2
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#define GYRO_OVERSAMPLING_YAW 2
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#define ACC_SUMMATION_FACTOR_PITCHROLL 2
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#define ACC_OVERSAMPLING_XY 2
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#define ACC_SUMMATION_FACTOR_Z 1
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#define ACC_OVERSAMPLING_Z 1
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/*
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/*
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 Integration:
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 Integration:
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/*
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/*
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 * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
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 * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
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 * Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
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 * Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
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 */
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 */
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#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_PITCHROLL * GYRO_FACTOR_PITCHROLL)
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#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)
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#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_SUMMATION_FACTOR_YAW)
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#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_YAW)
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/*
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/*
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 * Gyro saturation prevention.
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 * Gyro saturation prevention.
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 */
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 */
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// How far from the end of its range a gyro is considered near-saturated.
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// How far from the end of its range a gyro is considered near-saturated.
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#define SENSOR_MIN_PITCHROLL 32
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#define SENSOR_MIN_PITCHROLL 32
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// Other end of the range (calculated)
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// Other end of the range (calculated)
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#define SENSOR_MAX_PITCHROLL (GYRO_SUMMATION_FACTOR_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
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#define SENSOR_MAX_PITCHROLL (GYRO_OVERSAMPLING_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
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// Max. boost to add "virtually" to gyro signal at total saturation.
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// Max. boost to add "virtually" to gyro signal at total saturation.
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#define EXTRAPOLATION_LIMIT 2500
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#define EXTRAPOLATION_LIMIT 2500
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3503 mV = 5V(0.009P-0.095)  P = 88.4   kPa  h = 384m  Diff: 1079.5m
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3503 mV = 5V(0.009P-0.095)  P = 88.4   kPa  h = 384m  Diff: 1079.5m
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Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V
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Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V
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This is OCR2 = 143.15 at 1.5V in --> simple pressure =
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This is OCR2 = 143.15 at 1.5V in --> simple pressure =
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*/
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*/
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#define AIRPRESSURE_SUMMATION_FACTOR 14
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#define AIRPRESSURE_OVERSAMPLING 14
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#define AIRPRESSURE_FILTER 8
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#define AIRPRESSURE_FILTER 8
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// Minimum A/D value before a range change is performed.
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// Minimum A/D value before a range change is performed.
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#define MIN_RAWPRESSURE (200 * 2)
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#define MIN_RAWPRESSURE (200 * 2)
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// Maximum A/D value before a range change is performed.
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// Maximum A/D value before a range change is performed.