| 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); |
| } |