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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | /* |
| 1612 | dongfang | 2 | #ifndef _INVENSENSE_H |
| 3 | #define _INVENSENSE_H |
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| 4 | |||
| 5 | #include "sensors.h" |
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| 6 | |||
| 7 | #define GYRO_HW_NAME "ISens" |
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| 1646 | - | 8 | |
| 1775 | - | 9 | / * |
| 1612 | dongfang | 10 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
| 11 | * but they have a wider range too. |
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| 12 | * 2mV/deg/s gyros and no amplifiers: |
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| 13 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
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| 1775 | - | 14 | * / |
| 1612 | dongfang | 15 | #define GYRO_HW_FACTOR 0.6827f |
| 16 | |||
| 1775 | - | 17 | / * |
| 1612 | dongfang | 18 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
| 19 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
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| 20 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
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| 21 | * make any adjustments here. It is only for luxury. |
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| 1775 | - | 22 | * / |
| 1612 | dongfang | 23 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
| 24 | |||
| 1775 | - | 25 | / * |
| 1612 | dongfang | 26 | * Same for yaw. |
| 1775 | - | 27 | * / |
| 1612 | dongfang | 28 | #define GYRO_YAW_CORRECTION 0.97f |
| 29 | #endif |
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| 1775 | - | 30 | */ |