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| - | 1 | /* |
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| 1 | #ifndef _INVENSENSE_H |
2 | #ifndef _INVENSENSE_H |
| 2 | #define _INVENSENSE_H |
3 | #define _INVENSENSE_H |
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| 3 | 4 | ||
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| 4 | #include "sensors.h" |
5 | #include "sensors.h" |
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| 5 | 6 | ||
| 6 | #define GYRO_HW_NAME "ISens" |
7 | #define GYRO_HW_NAME "ISens" |
| 7 | 8 | |
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| 8 | /* |
9 | / * |
| 9 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
10 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
| 10 | * but they have a wider range too. |
11 | * but they have a wider range too. |
| 11 | * 2mV/deg/s gyros and no amplifiers: |
12 | * 2mV/deg/s gyros and no amplifiers: |
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| 12 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
13 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| 13 | */ |
14 | * / |
| 14 | #define GYRO_HW_FACTOR 0.6827f |
15 | #define GYRO_HW_FACTOR 0.6827f |
| 15 | 16 | ||
| 16 | /* |
17 | / * |
| 17 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
18 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
| 18 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
19 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
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| 19 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
20 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
| 20 | * make any adjustments here. It is only for luxury. |
21 | * make any adjustments here. It is only for luxury. |
| 21 | */ |
22 | * / |
| 22 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
23 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
| 23 | - | ||
| 24 | /* |
24 | |
| - | 25 | / * |
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