| 9,7 → 9,7 |
|---|
| #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| |
| 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); |
| } |
| |
| void gyro_init() { |
| void gyro_init(void) { |
| if (gyroAmplifierOffset_readFromEEProm()) { |
| printf("gyro amp invalid, recalibrate."); |
| gyroAmplifierOffset.offsets[PITCH] = |
| 76,10 → 76,11 |
|---|
| } |
| |
| 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; |
| } |