| 25,20 → 25,20 |
|---|
| |
| for (axis=PITCH; axis<=YAW; axis++) { |
| if (axis==YAW) factor = GYRO_SUMMATION_FACTOR_YAW; |
| else factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| |
| if(rawGyroSum[axis] < factor * 510) DACValues[axis]--; |
| else if(rawGyroSum[axis] > limit * 515) DACValues[axis]++; |
| else numberOfAxesInRange++; |
| else factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| |
| if(rawGyroSum[axis] < 510 * factor) DACValues[axis]--; |
| else if(rawGyroSum[axis] > 515 * factor) DACValues[axis]++; |
| else numberOfAxesInRange++; |
| |
| /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). |
| if(DACValues[axis] < 10) { |
| DACValues[axis] = 10; |
| } else if(DACValues[axis] > 245) { |
| DACValues[axis] = 245; |
| } |
| /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| if(DACValues[axis] < 10) { |
| DACValues[axis] = 10; |
| } else if(DACValues[axis] > 245) { |
| DACValues[axis] = 245; |
| } |
| } |
| |
| |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| |
| // Wait for I2C to finish transmission. |
| 46,12 → 46,12 |
|---|
| // Did it take too long? |
| if(CheckDelay(timeout)) { |
| printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| break; |
| } |
| } |
| |
| analog_start(); |
| |
| |
| Delay_ms_Mess(i<10 ? 10 : 2); |
| } |
| Delay_ms_Mess(70); |
| 59,9 → 59,9 |
|---|
| |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 3; |
| staticParams.DriftComp = 100; |
| staticParams.GyroAccFactor = 1; |
| staticParams.GyroAccTrim = 5; |
| staticParams.DriftComp = 250; |
| staticParams.GyroAccFactor = 10; |
| staticParams.GyroAccTrim = 1; |
| |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |