306,17 → 306,24 |
} |
|
void measureGyroActivity(int16_t newValue) { |
gyroActivity += (uint32_t)((int32_t)newValue * newValue); |
gyroActivity += newValue * newValue; |
// abs(newValue); // (uint32_t)((int32_t)newValue * newValue); |
} |
|
#define GADAMPING 6 |
void dampenGyroActivity(void) { |
static uint8_t cnt = 0; |
|
if (++cnt >= IMUConfig.gyroActivityDamping) { |
cnt = 0; |
gyroActivity *= (uint32_t)((1L<<GADAMPING)-1); |
gyroActivity >>= GADAMPING; |
} |
|
/* |
if (gyroActivity >= 10) gyroActivity -= 10; |
else if (gyroActivity <=- 10) gyroActivity += 10; |
*/ |
} |
|
void analog_updateGyros(void) { |
469,8 → 476,8 |
|
// Even if the sample is off-range, use it. |
simpleAirPressure = getSimplePressure(rawAirPressure); |
debugOut.analog[6] = rawAirPressure; |
debugOut.analog[7] = simpleAirPressure; |
// debugOut.analog[6] = rawAirPressure; |
// debugOut.analog[7] = simpleAirPressure; |
|
if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
// Danger: pressure near lower end of range. If the measurement saturates, the |