8,9 → 8,7 |
* Configuration for my prototype board with InvenSense gyros. |
* The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
*/ |
const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
const uint8_t ACC_REVERSED[3] = { 0, 0, 1 }; |
const uint8_t AXIS_TRANSFORM = 0; |
PR_GYROS_ORIENTATION_REVERSED = 0; |
|
#define AUTOZERO_PORT PORTD |
#define AUTOZERO_DDR DDRD |
34,7 → 32,7 |
} |
|
void gyro_setDefaults(void) { |
staticParams.GyroAccFactor = 1; |
staticParams.DriftComp = 3; |
staticParams.GyroAccTrim = 2; |
staticParams.zerothOrderGyroCorrectionFactorx1000 = 1; |
staticParams.secondOrderGyroCorrectionDivisor = 2; |
staticParams.secondOrderGyroCorrectionLimit = 3; |
} |