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 * How much low pass filtering to apply for gyro_ATT.
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 * How much low pass filtering to apply for gyro_ATT.
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 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
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 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
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 * Temporarily replaced by userparam-configurable variable.
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 * Temporarily replaced by userparam-configurable variable.
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 */
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 */
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// #define GYROS_ATT_FILTER 1
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// #define GYROS_ATT_FILTER 1
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// Temporarily replaced by userparam-configurable variable.
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// #define ACC_FILTER 4
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// #define ACC_FILTER 4
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/*
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/*
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 About setting constants for different gyros:
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 About setting constants for different gyros:
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 A gyro is considered, in this code, to be "forward" if its positive
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 A gyro is considered, in this code, to be "forward" if its positive
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 direction is:
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 direction is:
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 - Nose down for pitch
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 - Nose down for pitch
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 - Left hand side down for roll
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 - Left hand side down for roll
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 - Clockwise seen from above for yaw.
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 - Clockwise seen from above for yaw.
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 Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
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 GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
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 Setting gyro gain correctly: All sensor measurements in analog.c take
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 Setting gyro gain correctly: All sensor measurements in analog.c take
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 place in a cycle, each cycle comprising all sensors. Some sensors are
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 place in a cycle, each cycle comprising all sensors. Some sensors are
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 sampled more than ones, and the results added. The pitch and roll gyros
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 sampled more than ones, and the results added. The pitch and roll gyros
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 are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74
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 are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74
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 code.
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 code.