7,23 → 7,6 |
//#include "ADXRS610_FC2.0.h" |
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/* |
* How much low pass filtering to apply for gyro_PID. |
* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
* Temporarily replaced by userparam-configurable variable. |
*/ |
// #define GYROS_PID_FILTER 1 |
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/* |
* How much low pass filtering to apply for gyro_ATT. |
* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
* Temporarily replaced by userparam-configurable variable. |
*/ |
// #define GYROS_ATT_FILTER 1 |
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// Temporarily replaced by userparam-configurable variable. |
// #define ACC_FILTER 4 |
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/* |
About setting constants for different gyros: |
Main parameters are positive directions and voltage/angular speed gain. |
The "Positive direction" is the rotation direction around an axis where |
33,8 → 16,6 |
- Nose down for pitch |
- Left hand side down for roll |
- Clockwise seen from above for yaw. |
Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
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Setting gyro gain correctly: All sensor measurements in analog.c take |
place in a cycle, each cycle comprising all sensors. Some sensors are |