/branches/dongfang_FC_fixedwing/analog.c |
---|
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]); |
} |
/* |
/branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.c |
---|
140,9 → 140,6 |
IMUConfig.gyroDWindowLength = 3; |
IMUConfig.gyroQuadrant = 4; |
IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_PR; |
IMUConfig.gyroCalibrationTweak[0] = |
IMUConfig.gyroCalibrationTweak[1] = |
IMUConfig.gyroCalibrationTweak[2] = 0; |
} |
/***************************************************/ |
/branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.h |
---|
41,7 → 41,6 |
uint8_t gyroActivityDamping; |
uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
uint8_t driftCompLimit; // limit for gyrodrift compensation |
int8_t gyroCalibrationTweak[3]; |
} IMUConfig_t; |
extern IMUConfig_t IMUConfig; |
/branches/dongfang_FC_fixedwing/configuration.c |
---|
198,10 → 198,6 |
IMUConfig.gyroQuadrant = 2; |
IMUConfig.imuReversedFlags = 0; |
IMUConfig.gyroCalibrationTweak[0] = |
IMUConfig.gyroCalibrationTweak[1] = |
IMUConfig.gyroCalibrationTweak[2] = 0; |
gyro_setDefaultParameters(); |
} |
/branches/dongfang_FC_fixedwing/configuration.h |
---|
41,7 → 41,6 |
uint8_t gyroActivityDamping; |
uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
uint8_t driftCompLimit; // limit for gyrodrift compensation |
int8_t gyroCalibrationTweak[3]; |
} IMUConfig_t; |
extern IMUConfig_t IMUConfig; |