296,7 → 296,7 |
} |
|
// 2) Apply sign and offset, scale before filtering. |
tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
} |
|
// 2.1: Transform axes. |
320,7 → 320,7 |
gyro_PID[axis] = tempOffsetGyro[axis]; |
|
// Prepare tempOffsetGyro for next calculation below... |
tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
} |
|
/* |