| 1,6 → 1,6 |
|---|
| /*####################################################################################### |
| Attitude sense system (processing of gyro, accelerometer and altimeter data) |
| #######################################################################################*/ |
| /*********************************************************************************/ |
| /* Attitude sense system (processing of gyro, accelerometer and altimeter data) */ |
| /*********************************************************************************/ |
| |
| #ifndef _ATTITUDE_H |
| #define _ATTITUDE_H |
| 33,7 → 33,7 |
|---|
| * Gyro readings are divided by this before being used in attitude control. This will scale them |
| * to match the scale of the stick control etc. variables. This is just a rough non-precision |
| * scaling - the below definitions make precise conversion factors. |
| * Will be about 4 for InvenSense, 8 for FC1.3 and 13 for ADXRS610 (hmmm - originally is was only 8???) |
| * Will be about 4 for InvenSense, 8 for FC1.3 and 8 for ADXRS610. |
| * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees. |
| */ |
| #define HIRES_GYRO_INTEGRATION_FACTOR (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
| 81,13 → 81,13 |
|---|
| /* |
| * Rotation rates |
| */ |
| extern int16_t pitchRate_PID, rollRate_PID, yawRate; |
| extern int16_t pitchDifferential, rollDifferential; |
| extern int16_t rate_PID[2], yawRate; |
| extern int16_t differential[2]; |
| |
| /* |
| * Attitudes calcualted by numerical integration of gyro rates |
| * Attitudes calculated by numerical integration of gyro rates |
| */ |
| extern int32_t pitchAngle, rollAngle, yawAngle; |
| extern int32_t angle[2], yawAngle; |
| |
| // extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
| |
| 104,12 → 104,6 |
|---|
| extern uint16_t badCompassHeading; |
| |
| /* |
| * Height control |
| */ |
| extern int readingHeight; |
| extern int setPointHeight; |
| |
| /* |
| * Interval wrap-over values for attitude integrals |
| */ |
| extern long turnOver180Pitch, turnOver180Roll; |
| 127,8 → 121,7 |
|---|
| * - Detect which way the pilot pulls the stick to keep the copter steady, and correct by that |
| * - Invent your own... |
| */ |
| extern int16_t dynamicOffsetPitch, dynamicOffsetRoll, dynamicOffsetYaw; |
| // extern int16_t savedDynamicOffsetPitch, savedDynamicOffsetRoll; |
| extern int16_t dynamicOffset[2], dynamicOffsetYaw; |
| |
| /* |
| * Re-init flight attitude, setting all angles to 0 (or to whatever can be derived from acc. sensor). |