| 8,10 → 8,8 |
|---|
| #include <inttypes.h> |
| |
| #include "analog.h" |
| #include "timer0.h" |
| |
| // For debugging only. |
| #include "uart0.h" |
| |
| /* |
| * If you have no acc. sensor or do not want to use it, remove this define. This will cause the |
| * acc. sensor to be ignored at attitude calibration. |
| 27,7 → 25,7 |
|---|
| /* |
| * The frequency at which numerical integration takes place. 488 in original code. |
| */ |
| #define INTEGRATION_FREQUENCY 488 |
| #define INTEGRATION_FREQUENCY F_MAINLOOP |
| |
| /* |
| * Gyro readings are divided by this before being used in attitude control. This will scale them |
| 59,6 → 57,7 |
|---|
| FC2.0: GYRO_DEG_FACTOR_PITCHROLL = 2399 |
| My InvenSense copter: GYRO_DEG_FACTOR_PITCHROLL = 1333 |
| */ |
| //#define GYRO_PITCHROLL_CORRECTION GYRO_PITCHROLL_CORRECTION_should_be_overridden_with_a_-D_at_compile_time |
| #define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
| #define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
| |