| 110,7 → 110,7 |
|---|
| division by the constant takes place in the flight attitude code, the |
| constant is there. |
| |
| The control loop executes every 2ms, and for each iteration |
| The control loop executes at 488Hz, and for each iteration |
| gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
| Assuming a constant rotation rate v and a zero initial gyroIntegral |
| (for this explanation), we get: |
| 119,18 → 119,18 |
|---|
| N * gyro / HIRES_GYRO_INTEGRATION_FACTOR = |
| N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR |
| |
| where N is the number of summations; N = t/2ms. |
| where N is the number of summations; N = t*488. |
| |
| For one degree of rotation: t*v = 1: |
| |
| gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
| gyroIntegralXXXX = t * 488 * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
| |
| This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor. |
| |
| Examples: |
| FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304 |
| FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260 |
| My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365 |
| FC1.3: I=4, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=1 --> integralDegreeFactor = 2545 |
| FC2.0: I=4, H=1.2288, HIRES_GYRO_INTEGRATION_FACTOR=1 --> integralDegreeFactor = 2399 |
| My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1333 |
| */ |
| |
| /* |
| 295,7 → 295,7 |
|---|
| void analog_calibrateAcc(void); |
| |
| |
| void analog_setGround(); |
| void analog_setGround(void); |
| |
| int32_t analog_getHeight(void); |
| int16_t analog_getDHeight(void); |