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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | #ifndef _SENSORS_H |
| 2 | #define _SENSORS_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | |||
| 6 | /* |
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| 7 | * Whether (pitch, roll, yaw) gyros are reversed (see analog.h). |
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| 8 | */ |
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| 9 | extern const uint8_t GYRO_QUADRANT; |
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| 10 | extern const uint8_t YAW_REVERSED; |
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| 11 | |||
| 12 | /* |
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| 13 | * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h). |
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| 14 | */ |
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| 15 | //extern const uint8_t ACC_QUADRANT; |
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| 16 | |||
| 17 | /* |
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| 18 | * Whether the FC is installed 45 degs turned. If<>0, then pitch'<-pitch+roll and roll'<-roll-pitch. If the signs are not right for you, |
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| 19 | * change signs for the individual pitch and roll gyros in GYRO_REVERSED. All 4 combinations on FC installation with a side facing forward |
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| 20 | * are possible. |
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| 21 | */ |
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| 22 | extern const uint8_t GYROS_REVERSED; |
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| 23 | extern const uint8_t Z_ACC_REVERSED; |
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| 24 | |||
| 25 | /* |
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| 26 | * Common procedures for all gyro types. |
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| 27 | * FC 1.3 hardware: Searching the DAC values that return neutral readings. |
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| 28 | * FC 2.0 hardware: Nothing to do. |
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| 29 | * InvenSense hardware: Output a pulse on the AUTO_ZERO line. |
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| 30 | */ |
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| 31 | void gyro_calibrate(void); |
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| 32 | |||
| 33 | /* |
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| 34 | * Set some default FC parameters, depending on gyro type: Drift correction etc. |
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| 35 | */ |
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| 36 | void gyro_setDefaults(void); |
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| 37 | |||
| 38 | #endif |