502,7 → 502,7 |
|
// determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
Delay_ms_Mess(20); |
delay_ms_Mess(20); |
for (axis = PITCH; axis <= YAW; axis++) { |
deltaOffsets[axis] += rawGyroSum[axis]; |
} |
524,7 → 524,7 |
// airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
// pressureMeasurementCount = 0; |
|
Delay_ms_Mess(100); |
delay_ms_Mess(100); |
} |
|
/* |
542,7 → 542,7 |
// int16_t pressureDiff, savedRawAirPressure; |
|
for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
Delay_ms_Mess(10); |
delay_ms_Mess(10); |
for (axis = PITCH; axis <= YAW; axis++) { |
deltaOffset[axis] += acc[axis]; |
} |
565,13 → 565,13 |
|
// Setting offset values has an influence in the analog.c ISR |
// Therefore run measurement for 100ms to achive stable readings |
Delay_ms_Mess(100); |
delay_ms_Mess(100); |
|
// Set the feedback so that air pressure ends up in the middle of the range. |
// (raw pressure high --> OCR0A also high...) |
/* |
OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
Delay_ms_Mess(1000); |
delay_ms_Mess(1000); |
|
pressureDiff = 0; |
// DebugOut.Analog[16] = rawAirPressure; |
580,12 → 580,12 |
for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
savedRawAirPressure = rawAirPressure; |
OCR0A+=2; |
Delay_ms_Mess(500); |
delay_ms_Mess(500); |
// raw pressure will decrease. |
pressureDiff += (savedRawAirPressure - rawAirPressure); |
savedRawAirPressure = rawAirPressure; |
OCR0A-=2; |
Delay_ms_Mess(500); |
delay_ms_Mess(500); |
// raw pressure will increase. |
pressureDiff += (rawAirPressure - savedRawAirPressure); |
} |