Rev 1612 |
Blame |
Last modification |
View Log
| RSS feed
#ifndef _INVENSENSE_H
#define _INVENSENSE_H
#include "sensors.h"
#define GYRO_HW_NAME "ISens"
/*
* The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME,
* but they have a wider range too.
* 2mV/deg/s gyros and no amplifiers:
* H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
*/
#define GYRO_HW_FACTOR 0.6827f
/*
* Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees.
* If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90.
* If the hardware related contants are set correctly, flight should be OK without bothering to
* make any adjustments here. It is only for luxury.
*/
#define GYRO_PITCHROLL_CORRECTION 0.93f
/*
* Same for yaw.
*/
#define GYRO_YAW_CORRECTION 0.97f
#endif