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#include "ADXRS610_FC2.0.h"
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#include "ADXRS610_FC2.0.h"
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#include "configuration.h"
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#include "configuration.h"
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const uint8_t GYRO_QUADRANT = 3;
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//const uint8_t ACC_QUADRANT = 0;
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const uint8_t YAW_GYRO_REVERSED = 0;
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const uint8_t PR_GYROS_ORIENTATION_REVERSED = 0;
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const uint8_t Z_ACC_REVERSED = 0;
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void gyro_calibrate(void) {
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void gyro_calibrate(void) {
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  // Nothing to calibrate.
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}
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}
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void gyro_setDefaults(void) {
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        staticParams.DriftComp = 0;
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        staticParams.GyroAccFactor = 1;
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void gyro_init(void) {
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        staticParams.GyroAccTrim = 1;
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}
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/*
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normal  1rev  2rev
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0
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1 0    -1 0    1  0
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0 1     0 1    0 -1
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45
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1 -1   -1 -1   1  1
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1  1   -1  1   1 -1
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90
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0 -1    0 -1   0  1
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1  0   -1  0   1  0
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135
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-1 -1   1 -1  -1  1
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1  -1  -1 -1   1  1
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180
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-1 0    1  0   -1 0
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0 -1    0 -1   0  1
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225
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-1 1    1  1   -1 -1
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-1 -1   1 -1   -1  1
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270
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0  1    0  1   0 -1
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-1 0    1  0   -1 0
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315
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 1 1   -1  1   1 -1
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-1 1    1  1  -1 -1
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  // No amplifiers, no DAC.
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}
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0,0: 1,1,0,-1,-1,-1,0,1 paddp = tab[n]
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void gyro_setDefaultParameters(void) {
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0,1: 0,-1,-1,-1,0,1,1,1 paddr = tab[n+2]
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1,0: 0,1,1,1,0,-1,-1,-1 raddp = tab[n+6]
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1,1: 1,1,0,-1,-1,-1,0,1 raddr = tab[n]
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  IMUConfig.accQuadrant = 4;
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reverse:
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  IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_XY;
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0,0: -1,-1,0,1,1,1,0,-1 paddp = tab[n+4]
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  staticParams.gyroD = 5;
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0,1: 0,-1,-1,-1,0,1,1,1 (same)= tab[n+2]
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  IMUConfig.driftCompDivider = 1;
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1,0: 0,-1,-1,-1,0,1,1,1 raddp = tab[n+2]
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1,1: 1,1,0,-1,-1,-1,0,1 (same)= tab[n]
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