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 * They are exported in the analog.h file - but please do not use them! The only
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 * They are exported in the analog.h file - but please do not use them! The only
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 * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
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 * reason for the export is that the ENC-03_FC1.3 modules needs them for calibrating
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 * the offsets with the DAC.
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 * the offsets with the DAC.
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 */
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 */
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volatile uint16_t sensorInputs[8];
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volatile uint16_t sensorInputs[8];
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//int16_t acc[3];
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//int16_t filteredAcc[3] = { 0,0,0 };
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/*
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/*
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 * These 4 exported variables are zero-offset. The "PID" ones are used
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 * These 4 exported variables are zero-offset. The "PID" ones are used
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 * in the attitude control as rotation rates. The "ATT" ones are for
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 * in the attitude control as rotation rates. The "ATT" ones are for
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int16_t gyro_PID[3];
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int16_t gyro_PID[3];
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int16_t gyro_ATT[3];
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int16_t gyro_ATT[3];
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int16_t gyroD[3];
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int16_t gyroD[3];
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int16_t gyroDWindow[3][GYRO_D_WINDOW_LENGTH];
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int16_t gyroDWindow[3][GYRO_D_WINDOW_LENGTH];
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uint8_t gyroDWindowIdx = 0;
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uint8_t gyroDWindowIdx = 0;
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//int16_t dHeight;
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//uint32_t gyroActivity;
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/*
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/*
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 * Offset values. These are the raw gyro and acc. meter sums when the copter is
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 * Offset values. These are the raw gyro and acc. meter sums when the copter is
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 * standing still. They are used for adjusting the gyro and acc. meter values
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 * standing still. They are used for adjusting the gyro and acc. meter values
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 * to be centered on zero.
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 * to be centered on zero.
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 */
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 */
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sensorOffset_t gyroOffset;
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sensorOffset_t accOffset;
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sensorOffset_t gyroAmplifierOffset;
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sensorOffset_t gyroOffset;
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/*
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/*
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 * In the MK coordinate system, nose-down is positive and left-roll is positive.
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 * In the MK coordinate system, nose-down is positive and left-roll is positive.
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/*
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/*
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 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
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 * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt.
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 * That is divided by 3 below, for a final 10.34 per volt.
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 * That is divided by 3 below, for a final 10.34 per volt.
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 * So the initial value of 100 is for 9.7 volts.
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 * So the initial value of 100 is for 9.7 volts.
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 */
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 */
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int16_t UBat = 100;
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uint16_t UBat = 100;
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uint16_t airspeed = 0;
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/*
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/*
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 * Control and status.
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 * Control and status.
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 */
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 */