4,12 → 4,17 |
|
#include <avr/io.h> |
|
/* |
* Configuration for my prototype board with InvenSense gyros. |
* The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
*/ |
const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
const uint8_t ACC_REVERSED[3] = {0,0,1}; |
|
#define AUTOZERO_PORT PORTD |
#define AUTOZERO_DDR DDRD |
#define AUTOZERO_BIT 5 |
|
const uint8_t GYROS_REVERSE[2] = {0,0}; |
|
void gyro_calibrate() { |
// If port not already set to output and high, do it. |
if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
29,7 → 34,7 |
void gyro_setDefaults(void) { |
staticParams.GyroD = 3; |
staticParams.GyroAccFactor = 1; |
staticParams.DriftComp = 1; |
staticParams.DriftComp = 10; |
|
// Not used. |
staticParams.AngleTurnOverPitch = 85; |