| 7,6 → 7,7 |
|---|
| #include "attitude.h" |
| #include "printf_P.h" |
| #include "isqrt.h" |
| #include "sensors.h" |
| |
| // for Delay functions |
| #include "timer0.h" |
| 404,14 → 405,14 |
|---|
| } |
| |
| void analog_calibrate(void) { |
| #define OFFSET_CYCLES 64 |
| #define OFFSET_CYCLES 250 |
| uint8_t i, axis; |
| int32_t offsets[4] = { 0, 0, 0, 0}; |
| int32_t offsets[4] = { 0, 0, 0, 0 }; |
| gyro_calibrate(); |
| |
| // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| for (i = 0; i < OFFSET_CYCLES; i++) { |
| delay_ms_with_adc_measurement(10, 1); |
| delay_ms_with_adc_measurement(2, 1); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| offsets[axis] += rawGyroValue(axis); |
| } |
| 419,7 → 420,7 |
|---|
| } |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset.offsets[axis] = (offsets[axis] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| gyroOffset.offsets[axis] = (offsets[axis] /*+ OFFSET_CYCLES/2 */) / OFFSET_CYCLES; |
| int16_t min = (512-200) * GYRO_OVERSAMPLING; |
| int16_t max = (512+200) * GYRO_OVERSAMPLING; |
| if(gyroOffset.offsets[axis] < min || gyroOffset.offsets[axis] > max) |
| 426,7 → 427,7 |
|---|
| versionInfo.hardwareErrors[0] |= FC_ERROR0_GYRO_PITCH << axis; |
| } |
| |
| airpressureOffset = (offsets[3] + OFFSET_CYCLES / 2) / OFFSET_CYCLES; |
| airpressureOffset = (offsets[3] /* + OFFSET_CYCLES/2 */) / OFFSET_CYCLES; |
| int16_t min = 200; |
| int16_t max = 1024-200; |
| if(airpressureOffset < min || airpressureOffset > max) |