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| 58 | * respectively. This is = the number of occurences of each channel in the |
58 | * respectively. This is = the number of occurences of each channel in the |
| 59 | * channelsForStates array in analog.c. |
59 | * channelsForStates array in analog.c. |
| 60 | */ |
60 | */ |
| 61 | #define GYRO_OVERSAMPLING 4 |
61 | #define GYRO_OVERSAMPLING 4 |
| Line 62... | Line -... | ||
| 62 | - | ||
| 63 | //#define ACC_OVERSAMPLING_XY 2 |
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| 64 | //#define ACC_OVERSAMPLING_Z 1 |
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| 65 | 62 | ||
| 66 | /* |
63 | /* |
| 67 | * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate. |
64 | * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate. |
| 68 | */ |
65 | */ |
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| 104 | * in filtering, and when a gyro becomes near saturated. |
101 | * in filtering, and when a gyro becomes near saturated. |
| 105 | * Maybe this distinction is not really necessary. |
102 | * Maybe this distinction is not really necessary. |
| 106 | */ |
103 | */ |
| 107 | extern int16_t gyro_PID[3]; |
104 | extern int16_t gyro_PID[3]; |
| 108 | extern int16_t gyro_ATT[3]; |
105 | extern int16_t gyro_ATT[3]; |
| - | 106 | extern int16_t gyroD[3]; |
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| - | 107 | ||
| 109 | #define GYRO_D_WINDOW_LENGTH 8 |
108 | #define GYRO_D_WINDOW_LENGTH 8 |
| Line 110... | Line 109... | ||
| 110 | 109 | ||
| 111 | extern int16_t gyroD[3]; |
110 | extern uint16_t UBat; |
| Line 112... | Line 111... | ||
| 112 | extern int16_t UBat; |
111 | extern uint16_t airspeed; |
| 113 | 112 | ||
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| 114 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
113 | // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
| 115 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
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| 116 | - | ||
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| 117 | extern sensorOffset_t gyroOffset; |
114 | #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
| 118 | //extern sensorOffset_t accOffset; |
115 | |
| 119 | //extern sensorOffset_t gyroAmplifierOffset; |
116 | extern sensorOffset_t gyroOffset; |
| 120 | 117 | ||
| Line 134... | Line 131... | ||
| 134 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
131 | * Diagnostics: Gyro noise level because of motor vibrations. The variables |
| 135 | * only really reflect the noise level when the copter stands still but with |
132 | * only really reflect the noise level when the copter stands still but with |
| 136 | * its motors running. |
133 | * its motors running. |
| 137 | */ |
134 | */ |
| 138 | extern uint16_t gyroNoisePeak[3]; |
135 | extern uint16_t gyroNoisePeak[3]; |
| 139 | //extern uint16_t accNoisePeak[3]; |
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| Line 140... | Line 136... | ||
| 140 | 136 | ||
| 141 | /* |
137 | /* |
| 142 | * Air pressure. |
138 | * Air pressure. |
| 143 | * The sensor has a sensitivity of 45 mV/kPa. |
139 | * The sensor has a sensitivity of 45 mV/kPa. |