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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1646 | - | 1 | #ifndef _SENSORS_H |
| 2 | #define _SENSORS_H |
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| 1645 | - | 3 | |
| 1646 | - | 4 | #include <inttypes.h> |
| 1967 | - | 5 | #include "configuration.h" |
| 1646 | - | 6 | |
| 1612 | dongfang | 7 | /* |
| 1646 | - | 8 | * Whether (pitch, roll, yaw) gyros are reversed (see analog.h). |
| 9 | */ |
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| 10 | extern const uint8_t GYRO_REVERSED[3]; |
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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_REVERSED[3]; |
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| 1969 | - | 16 | extern sensorOffset_t gyroAmplifierOffset; |
| 1646 | - | 17 | |
| 18 | /* |
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| 1612 | dongfang | 19 | * Common procedures for all gyro types. |
| 20 | * FC 1.3 hardware: Searching the DAC values that return neutral readings. |
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| 21 | * FC 2.0 hardware: Nothing to do. |
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| 22 | * InvenSense hardware: Output a pulse on the AUTO_ZERO line. |
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| 23 | */ |
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| 24 | void gyro_calibrate(void); |
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| 25 | |||
| 1645 | - | 26 | /* |
| 1967 | - | 27 | * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing. |
| 28 | */ |
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| 1971 | - | 29 | void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults); |
| 1967 | - | 30 | |
| 31 | /* |
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| 1645 | - | 32 | * Set some default FC parameters, depending on gyro type: Drift correction etc. |
| 33 | */ |
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| 1971 | - | 34 | void gyro_setDefaultParameters(void); |
| 1646 | - | 35 | |
| 36 | #endif |