60,9 → 60,6 |
*/ |
#define GYRO_OVERSAMPLING 4 |
|
//#define ACC_OVERSAMPLING_XY 2 |
//#define ACC_OVERSAMPLING_Z 1 |
|
/* |
* The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate. |
*/ |
106,17 → 103,17 |
*/ |
extern int16_t gyro_PID[3]; |
extern int16_t gyro_ATT[3]; |
extern int16_t gyroD[3]; |
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#define GYRO_D_WINDOW_LENGTH 8 |
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extern int16_t gyroD[3]; |
extern int16_t UBat; |
extern uint16_t UBat; |
extern uint16_t airspeed; |
|
// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
|
extern sensorOffset_t gyroOffset; |
//extern sensorOffset_t accOffset; |
//extern sensorOffset_t gyroAmplifierOffset; |
|
/* |
* This is not really for external use - but the ENC-03 gyro modules needs it. |
136,7 → 133,6 |
* its motors running. |
*/ |
extern uint16_t gyroNoisePeak[3]; |
//extern uint16_t accNoisePeak[3]; |
|
/* |
* Air pressure. |