| 9,9 → 9,6 |
|---|
| #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| |
| const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
| const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
| |
| void gyro_calibrate(void) { |
| printf("gyro_calibrate"); |
| uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 18,9 → 15,10 |
|---|
| // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| |
| for (i = 140; i != 0; i--) { |
| delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
| |
| // If all 3 axis are in range, shorten the remaining number of iterations. |
| if (numberOfAxesInRange == 3 && i > 10) |
| i = 10; |
| if (numberOfAxesInRange == 3 && i > 10) i = 10; |
| |
| numberOfAxesInRange = 0; |
| |
| 30,9 → 28,9 |
|---|
| else |
| factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| |
| if (rawGyroSum[axis] < 510 * factor) |
| if (rawGyroValue(axis) < 510 * factor) |
| gyroAmplifierOffset.offsets[axis]--; |
| else if (rawGyroSum[axis] > 515 * factor) |
| else if (rawGyroValue(axis) > 515 * factor) |
| gyroAmplifierOffset.offsets[axis]++; |
| else |
| numberOfAxesInRange++; |
| 46,11 → 44,9 |
|---|
| } |
| |
| gyro_loadAmplifierOffsets(0); |
| |
| delay_ms_with_adc_measurement(i <= 10 ? 10 : 2); |
| } |
| gyroAmplifierOffset_writeToEEProm(); |
| delay_ms_with_adc_measurement(70); |
| delay_ms_with_adc_measurement(70, 0); |
| } |
| |
| void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults) { |