| 16,7 → 16,6 |
|---|
| * Temporarily replaced by userparam-configurable variable. |
| */ |
| // #define GYROS_ATT_FILTER 1 |
| |
| // Temporarily replaced by userparam-configurable variable. |
| // #define ACC_FILTER 4 |
| |
| 175,12 → 174,12 |
|---|
| * in filtering, and when a gyro becomes near saturated. |
| * Maybe this distinction is not really necessary. |
| */ |
| extern volatile int16_t gyro_PID[2]; |
| extern volatile int16_t gyro_ATT[2]; |
| extern volatile int16_t gyroD[2]; |
| extern volatile int16_t yawGyro; |
| extern int16_t gyro_PID[2]; |
| extern int16_t gyro_ATT[2]; |
| extern int16_t gyroD[2]; |
| extern int16_t yawGyro; |
| extern volatile uint16_t ADCycleCount; |
| extern volatile int16_t UBat; |
| extern int16_t UBat; |
| |
| // 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3. |
| #define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3)) |
| 192,13 → 191,13 |
|---|
| /* |
| * This is not really for external use - but the ENC-03 gyro modules needs it. |
| */ |
| extern volatile int16_t rawGyroSum[3]; |
| //extern volatile int16_t rawGyroSum[3]; |
| |
| /* |
| * The acceleration values that this module outputs. They are zero based. |
| */ |
| extern volatile int16_t acc[3]; |
| extern volatile int16_t filteredAcc[3]; |
| extern int16_t acc[3]; |
| extern int16_t filteredAcc[3]; |
| // extern volatile int32_t stronglyFilteredAcc[3]; |
| |
| /* |
| 206,8 → 205,8 |
|---|
| * only really reflect the noise level when the copter stands still but with |
| * its motors running. |
| */ |
| extern volatile uint16_t gyroNoisePeak[3]; |
| extern volatile uint16_t accNoisePeak[3]; |
| extern uint16_t gyroNoisePeak[3]; |
| extern uint16_t accNoisePeak[3]; |
| |
| /* |
| * Air pressure. |
| 254,11 → 253,11 |
|---|
| |
| #define ABS_ALTITUDE_OFFSET 108205 |
| |
| extern volatile uint16_t simpleAirPressure; |
| extern uint16_t simpleAirPressure; |
| /* |
| * At saturation, the filteredAirPressure may actually be (simulated) negative. |
| */ |
| extern volatile int32_t filteredAirPressure; |
| extern int32_t filteredAirPressure; |
| |
| /* |
| * Flag: Interrupt handler has done all A/D conversion and processing. |
| 268,6 → 267,12 |
|---|
| void analog_init(void); |
| |
| /* |
| * This is really only for use for the ENC-03 code module, which needs to get the raw value |
| * for its calibration. The raw value should not be used for anything else. |
| */ |
| uint16_t rawGyroValue(uint8_t axis); |
| |
| /* |
| * Start the conversion cycle. It will stop automatically. |
| */ |
| void startAnalogConversionCycle(void); |