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Rev 1910 | Rev 2025 | ||
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1 | #include "ADXRS610_FC2.0.h" |
1 | #include "ADXRS610_FC2.0.h" |
2 | #include "configuration.h" |
2 | #include "configuration.h" |
3 | 3 | ||
4 | const uint8_t GYRO_QUADRANT = 3; |
4 | const uint8_t GYRO_QUADRANT = 3; |
5 | //const uint8_t ACC_QUADRANT = 0; |
5 | //const uint8_t ACC_QUADRANT = 0; |
- | 6 | ||
6 | const uint8_t YAW_REVERSED = 0; |
7 | const uint8_t YAW_GYRO_REVERSED = 0; |
7 | const uint8_t GYROS_REVERSED = 0; |
8 | const uint8_t PR_GYROS_ORIENTATION_REVERSED = 0; |
8 | 9 | ||
9 | const uint8_t Z_ACC_REVERSED = 0; |
10 | const uint8_t Z_ACC_REVERSED = 0; |
10 | 11 | ||
11 | void gyro_calibrate(void) { |
12 | void gyro_calibrate(void) { |
12 | } |
13 | } |
13 | 14 | ||
14 | void gyro_setDefaults(void) { |
15 | void gyro_setDefaults(void) { |
15 | staticParams.DriftComp = 0; |
16 | staticParams.DriftComp = 0; |
16 | staticParams.GyroAccFactor = 1; |
17 | staticParams.GyroAccFactor = 1; |
17 | staticParams.GyroAccTrim = 0; |
18 | staticParams.GyroAccTrim = 1; |
18 | } |
19 | } |
19 | 20 | ||
20 | /* |
21 | /* |
21 | 22 | ||
22 | normal 1rev 2rev |
23 | normal 1rev 2rev |
23 | 0 |
24 | 0 |
24 | 1 0 -1 0 1 0 |
25 | 1 0 -1 0 1 0 |
25 | 0 1 0 1 0 -1 |
26 | 0 1 0 1 0 -1 |
26 | 27 | ||
27 | 45 |
28 | 45 |
28 | 1 -1 -1 -1 1 1 |
29 | 1 -1 -1 -1 1 1 |
29 | 1 1 -1 1 1 -1 |
30 | 1 1 -1 1 1 -1 |
30 | 31 | ||
31 | 90 |
32 | 90 |
32 | 0 -1 0 -1 0 1 |
33 | 0 -1 0 -1 0 1 |
33 | 1 0 -1 0 1 0 |
34 | 1 0 -1 0 1 0 |
34 | 35 | ||
35 | 135 |
36 | 135 |
36 | -1 -1 1 -1 -1 1 |
37 | -1 -1 1 -1 -1 1 |
37 | 1 -1 -1 -1 1 1 |
38 | 1 -1 -1 -1 1 1 |
38 | 39 | ||
39 | 180 |
40 | 180 |
40 | -1 0 1 0 -1 0 |
41 | -1 0 1 0 -1 0 |
41 | 0 -1 0 -1 0 1 |
42 | 0 -1 0 -1 0 1 |
42 | 43 | ||
43 | 225 |
44 | 225 |
44 | -1 1 1 1 -1 -1 |
45 | -1 1 1 1 -1 -1 |
45 | -1 -1 1 -1 -1 1 |
46 | -1 -1 1 -1 -1 1 |
46 | 47 | ||
47 | 270 |
48 | 270 |
48 | 0 1 0 1 0 -1 |
49 | 0 1 0 1 0 -1 |
49 | -1 0 1 0 -1 0 |
50 | -1 0 1 0 -1 0 |
50 | 51 | ||
51 | 315 |
52 | 315 |
52 | 1 1 -1 1 1 -1 |
53 | 1 1 -1 1 1 -1 |
53 | -1 1 1 1 -1 -1 |
54 | -1 1 1 1 -1 -1 |
54 | 55 | ||
55 | 56 | ||
56 | 0,0: 1,1,0,-1,-1,-1,0,1 paddp = tab[n] |
57 | 0,0: 1,1,0,-1,-1,-1,0,1 paddp = tab[n] |
57 | 0,1: 0,-1,-1,-1,0,1,1,1 paddr = tab[n+2] |
58 | 0,1: 0,-1,-1,-1,0,1,1,1 paddr = tab[n+2] |
58 | 1,0: 0,1,1,1,0,-1,-1,-1 raddp = tab[n+6] |
59 | 1,0: 0,1,1,1,0,-1,-1,-1 raddp = tab[n+6] |
59 | 1,1: 1,1,0,-1,-1,-1,0,1 raddr = tab[n] |
60 | 1,1: 1,1,0,-1,-1,-1,0,1 raddr = tab[n] |
60 | 61 | ||
61 | reverse: |
62 | reverse: |
62 | 0,0: -1,-1,0,1,1,1,0,-1 paddp = tab[n+4] |
63 | 0,0: -1,-1,0,1,1,1,0,-1 paddp = tab[n+4] |
63 | 0,1: 0,-1,-1,-1,0,1,1,1 (same)= tab[n+2] |
64 | 0,1: 0,-1,-1,-1,0,1,1,1 (same)= tab[n+2] |
64 | 1,0: 0,-1,-1,-1,0,1,1,1 raddp = tab[n+2] |
65 | 1,0: 0,-1,-1,-1,0,1,1,1 raddp = tab[n+2] |
65 | 1,1: 1,1,0,-1,-1,-1,0,1 (same)= tab[n] |
66 | 1,1: 1,1,0,-1,-1,-1,0,1 (same)= tab[n] |
66 | 67 | ||
67 | = 1rev[n-4] = 1rev[n+4] |
68 | = 1rev[n-4] = 1rev[n+4] |
68 | */ |
69 | */ |
69 | 70 |