9,7 → 9,7 |
#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
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void I2C_OutputAmplifierOffsets() { |
void I2C_OutputAmplifierOffsets(void) { |
uint16_t timeout = setDelay(2000); |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
// Wait for I2C to finish transmission. |
64,7 → 64,7 |
delay_ms_with_adc_measurement(70, 0); |
} |
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void gyro_init() { |
void gyro_init(void) { |
if (gyroAmplifierOffset_readFromEEProm()) { |
printf("gyro amp invalid, recalibrate."); |
gyroAmplifierOffset.offsets[PITCH] = |
76,10 → 76,11 |
} |
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void gyro_setDefaultParameters(void) { |
staticParams.accQuadrant = 4; |
staticParams.imuReversedFlags = IMU_REVERSE_ACC_XY; |
IMUConfig.gyroQuadrant = 0; |
IMUConfig.accQuadrant = 4; |
IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW | IMU_REVERSE_ACC_XY; |
staticParams.gyroD = 3; |
staticParams.driftCompDivider = 1; |
staticParams.driftCompLimit = 200; |
staticParams.zerothOrderCorrection = 25; |
IMUConfig.driftCompDivider = 1; |
IMUConfig.driftCompLimit = 200; |
IMUConfig.zerothOrderCorrection = 120; |
} |