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Rev 2032 | Rev 2092 | ||
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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 | void gyro_calibrate(void) { |
4 | void gyro_calibrate(void) { |
5 | // Nothing to calibrate. |
5 | // Nothing to calibrate. |
6 | } |
6 | } |
7 | 7 | ||
8 | void gyro_init(void) { |
8 | void gyro_init(void) { |
9 | // No amplifiers, no DAC. |
9 | // No amplifiers, no DAC. |
10 | } |
10 | } |
11 | 11 | ||
12 | void gyro_setDefaultParameters(void) { |
12 | void gyro_setDefaultParameters(void) { |
13 | staticParams.accQuadrant = 4; |
13 | IMUConfig.accQuadrant = 4; |
14 | staticParams.imuReversedFlags = IMU_REVERSE_ACC_XY; |
14 | IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_XY; |
15 | staticParams.gyroD = 5; |
15 | staticParams.gyroD = 5; |
16 | staticParams.driftCompDivider = 1; |
16 | IMUConfig.driftCompDivider = 1; |
17 | staticParams.driftCompLimit = 3; |
17 | IMUConfig.driftCompLimit = 3; |
18 | staticParams.zerothOrderCorrection = 1; |
18 | IMUConfig.zerothOrderCorrection = 1; |
19 | } |
19 | } |
20 | 20 |