2,8 → 2,9 |
#define _ANALOG_H |
#include <inttypes.h> |
|
// #include "invenSense.h" |
#include "ENC-03_FC1.3.h" |
//#include "invenSense.h" |
//#include "ENC-03_FC1.3.h" |
#include "ADXRS610_FC2.0.h" |
|
/* |
* How much low pass filtering to apply for gyro_PID. |
10,7 → 11,7 |
* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
* Temporarily replaced by userparam-configurable variable. |
*/ |
#define GYROS_PIDFILTER 1 |
// #define GYROS_PID_FILTER 1 |
|
/* |
* How much low pass filtering to apply for gyro_ATT. |
17,10 → 18,10 |
* 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
* Temporarily replaced by userparam-configurable variable. |
*/ |
#define GYROS_INTEGRALFILTER 1 |
// #define GYROS_ATT_FILTER 1 |
|
// Temporarily replaced by userparam-configurable variable. |
//#define ACC_FILTER 4 |
// #define ACC_FILTER 4 |
|
/* |
About setting constants for different gyros: |
28,7 → 29,10 |
The "Positive direction" is the rotation direction around an axis where |
the corresponding gyro outputs a voltage > the no-rotation voltage. |
A gyro is considered, in this code, to be "forward" if its positive |
direction is the same as in FC1.0-1.3, and reverse otherwise. |
direction is: |
- Nose down for pitch |
- Left hand side down for roll |
- Clockwise seen from above for yaw. |
Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
|
100,6 → 104,9 |
#define GYRO_SUMMATION_FACTOR_PITCHROLL 4 |
#define GYRO_SUMMATION_FACTOR_YAW 2 |
|
#define ACC_SUMMATION_FACTOR_PITCHROLL 2 |
#define ACC_SUMMATION_FACTOR_Z 1 |
|
/* |
Integration: |
The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
160,6 → 167,8 |
|
#define PITCH 0 |
#define ROLL 1 |
#define YAW 2 |
#define Z 2 |
/* |
* The values that this module outputs |
* These first 2 exported arrays are zero-offset. The "PID" ones are used |
180,12 → 189,12 |
/* |
* This is not really for external use - but the ENC-03 gyro modules needs it. |
*/ |
extern volatile int16_t rawGyroSum[2], rawYawGyroSum; |
extern volatile int16_t rawGyroSum[3]; |
|
/* |
* The acceleration values that this module outputs. They are zero based. |
*/ |
extern volatile int16_t acc[2], ZAcc; |
extern volatile int16_t acc[3]; |
extern volatile int16_t filteredAcc[2]; |
|
/* |