| 23,10 → 23,8 |
|---|
| #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| |
| const char* recal = ", recalibration needed."; |
| |
| volatile uint16_t ADSensorInputs[8]; |
| |
| |
| /* |
| * These 4 exported variables are zero-offset. The "PID" ones are used |
| * in the attitude control as rotation rates. The "ATT" ones are for |
| 180,6 → 178,8 |
|---|
| |
| startAnalogConversionCycle(); |
| |
| twimaster_init(); |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| 187,8 → 187,8 |
|---|
| /* |
| * Here the axes of the sensor can be shuffled around. |
| */ |
| uint16_t rawGyroValue(uint8_t axis) { |
| return IMU3200SensorInputs[axis+1]; // skip temperature mesaurement in any case.. |
| int16_t rawGyroValue(uint8_t axis) { |
| return ITG3200SensorInputs[axis+1]; // skip temperature mesaurement in any case.. |
| } |
| |
| /* |
| 350,8 → 350,8 |
|---|
| |
| if (gyroOffset_readFromEEProm()) { |
| printf("gyro offsets invalid%s",recal); |
| gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
| gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
| gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 0; |
| gyroOffset.offsets[YAW] = 0; |
| } |
| |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |