Subversion Repositories FlightCtrl

#include "ADXRS610_FC2.0.h"

#include "configuration.h"

const uint8_t GYRO_QUADRANT = 3;

//const uint8_t ACC_QUADRANT = 0;

const uint8_t YAW_GYRO_REVERSED = 0;

const uint8_t PR_GYROS_ORIENTATION_REVERSED = 0;

const uint8_t Z_ACC_REVERSED = 0;

void gyro_calibrate(void) {

}

void gyro_setDefaults(void) {

        staticParams.DriftComp = 0;

        staticParams.GyroAccFactor = 1;

        staticParams.GyroAccTrim = 1;

}

/*

normal  1rev  2rev

1 0    -1 0    1  0

45

1 -1   -1 -1   1  1

1  1   -1  1   1 -1

90

1  0   -1  0   1  0

135

-1 -1   1 -1  -1  1

1  -1  -1 -1   1  1

180

-1 0    1  0   -1 0

225

-1 1    1  1   -1 -1

-1 -1   1 -1   -1  1

270

-1 0    1  0   -1 0

315

 1 1   -1  1   1 -1

-1 1    1  1  -1 -1

0,0: 1,1,0,-1,-1,-1,0,1 paddp = tab[n]

0,1: 0,-1,-1,-1,0,1,1,1 paddr = tab[n+2]

1,0: 0,1,1,1,0,-1,-1,-1 raddp = tab[n+6]

1,1: 1,1,0,-1,-1,-1,0,1 raddr = tab[n]

reverse:

0,0: -1,-1,0,1,1,1,0,-1 paddp = tab[n+4]

0,1: 0,-1,-1,-1,0,1,1,1 (same)= tab[n+2]

1,0: 0,-1,-1,-1,0,1,1,1 raddp = tab[n+2]

1,1: 1,1,0,-1,-1,-1,0,1 (same)= tab[n]

               = 1rev[n-4] = 1rev[n+4]

*/