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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _INVENSENSE_H |
| 2 | #define _INVENSENSE_H |
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| 3 | |||
| 4 | #include "sensors.h" |
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| 5 | |||
| 6 | #define GYRO_HW_NAME "ISens" |
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| 7 | |||
| 8 | /* |
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| 9 | * Configuration for my prototype board with InvenSense gyros. |
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| 10 | * The FC 1.3 board is installed upside down, therefore 2 acc. meters are reversed. |
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| 11 | */ |
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| 12 | #define ACC_REVERSE_ROLLAXIS yes |
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| 13 | #define ACC_REVERSE_ZAXIS yes |
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| 14 | |||
| 15 | /* |
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| 16 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
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| 17 | * but they have a wider range too. |
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| 18 | * 2mV/deg/s gyros and no amplifiers: |
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| 19 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
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| 20 | */ |
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| 21 | #define GYRO_HW_FACTOR 0.6827f |
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| 22 | |||
| 23 | /* |
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| 24 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
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| 25 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
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| 26 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
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| 27 | * make any adjustments here. It is only for luxury. |
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| 28 | */ |
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| 29 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
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| 30 | |||
| 31 | /* |
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| 32 | * Same for yaw. |
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| 33 | */ |
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| 34 | #define GYRO_YAW_CORRECTION 0.97f |
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| 35 | |||
| 36 | /* |
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| 37 | * Yaw axis is reverse. |
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| 38 | */ |
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| 39 | #define GYRO_REVERSE_YAW yes |
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| 40 | |||
| 41 | #endif |