| 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; |
| } |