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| Rev 1963 | Rev 1964 | ||
|---|---|---|---|
| Line 54... | Line 54... | ||
| 54 | #include <avr/pgmspace.h> |
54 | #include <avr/pgmspace.h> |
| Line 55... | Line 55... | ||
| 55 | 55 | ||
| 56 | #include "analog.h" |
56 | #include "analog.h" |
| 57 | #include "attitude.h" |
57 | #include "attitude.h" |
| - | 58 | #include "sensors.h" |
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| Line 58... | Line 59... | ||
| 58 | #include "sensors.h" |
59 | #include "printf_P.h" |
| 59 | 60 | ||
| Line 60... | Line 61... | ||
| 60 | // for Delay functions |
61 | // for Delay functions |
| Line 468... | Line 469... | ||
| 468 | analog_updateBatteryVoltage(); |
469 | analog_updateBatteryVoltage(); |
| 469 | } |
470 | } |
| Line 470... | Line 471... | ||
| 470 | 471 | ||
| 471 | void analog_setNeutral() { |
472 | void analog_setNeutral() { |
| - | 473 | if (gyroOffset_readFromEEProm()) { |
|
| 472 | if (gyroOffset_readFromEEProm()) { |
474 | printf("gyro offsets invalid, you must recalibrate."); |
| 473 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
475 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL; |
| 474 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
476 | gyroOffset.offsets[YAW] = 512 * GYRO_SUMMATION_FACTOR_YAW; |
| - | 477 | } |
|
| - | 478 | ||
| - | 479 | debugOut.analog[6] = gyroOffset.offsets[PITCH]; |
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| Line 475... | Line 480... | ||
| 475 | } |
480 | debugOut.analog[7] = gyroOffset.offsets[ROLL]; |
| - | 481 | ||
| 476 | 482 | if (accOffset_readFromEEProm()) { |
|
| 477 | if (accOffset_readFromEEProm()) { |
483 | printf("acc. meter offsets invalid, you must recalibrate."); |
| 478 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
484 | accOffset.offsets[PITCH] = accOffset.offsets[ROLL] = 512 * ACC_SUMMATION_FACTOR_PITCHROLL; |
| Line 479... | Line 485... | ||
| 479 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |
485 | accOffset.offsets[Z] = 512 * ACC_SUMMATION_FACTOR_Z; |