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