31,17 → 31,17 |
factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
|
if (rawGyroSum[axis] < 510 * factor) |
DACValues[axis]--; |
DACValues.offsets[axis]--; |
else if (rawGyroSum[axis] > 515 * factor) |
DACValues[axis]++; |
DACValues.offsets[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; |
if (DACValues.offsets[axis] < 10) { |
DACValues.offsets[axis] = 10; |
} else if (DACValues.offsets[axis] > 245) { |
DACValues.offsets[axis] = 245; |
} |
} |
|