0,0 → 1,41 |
#ifndef _INVENSENSE_H |
#define _INVENSENSE_H |
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#include "sensors.h" |
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#define GYRO_HW_NAME "ISens" |
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/* |
* Configuration for my prototype board with InvenSense gyros. |
* The FC 1.3 board is installed upside down, therefore 2 acc. meters are reversed. |
*/ |
#define ACC_REVERSE_ROLLAXIS yes |
#define ACC_REVERSE_ZAXIS yes |
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/* |
* The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
* but they have a wider range too. |
* 2mV/deg/s gyros and no amplifiers: |
* H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
*/ |
#define GYRO_HW_FACTOR 0.6827f |
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/* |
* Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
* If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
* If the hardware related contants are set correctly, flight should be OK without bothering to |
* make any adjustments here. It is only for luxury. |
*/ |
#define GYRO_PITCHROLL_CORRECTION 0.93f |
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/* |
* Same for yaw. |
*/ |
#define GYRO_YAW_CORRECTION 0.97f |
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/* |
* Yaw axis is reverse. |
*/ |
#define GYRO_REVERSE_YAW yes |
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#endif |