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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _ADXRS610_H |
| 2 | #define _ADXRS610_H |
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| 3 | |||
| 4 | #include "sensors.h" |
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| 5 | /* |
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| 6 | * Configuration for the ADXR610 gyros, as they are oriented and wired on the FC 2.0 ME board. |
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| 7 | */ |
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| 8 | |||
| 9 | #define GYRO_HW_NAME "ADXR" |
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| 10 | |||
| 11 | #define GYRO_HW_FACTOR 1.2288f |
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| 12 | |||
| 13 | /* |
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| 14 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
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| 15 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
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| 16 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
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| 17 | * make any adjustments here. It is only for luxury. |
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| 18 | */ |
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| 19 | #define GYRO_PITCHROLL_CORRECTION 1.0f |
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| 20 | |||
| 21 | /* |
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| 22 | * Same for yaw. |
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| 23 | */ |
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| 24 | #define GYRO_YAW_CORRECTION 1.0f |
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| 25 | |||
| 26 | /* |
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| 27 | * Yaw axis is reverse on the ME. |
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| 28 | */ |
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| 29 | #define GYRO_REVERSE_YAW yes |
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| 30 | #endif |