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| Rev 1612 | Rev 1646 | ||
|---|---|---|---|
| 1 | #ifndef _INVENSENSE_H |
1 | #ifndef _INVENSENSE_H |
| 2 | #define _INVENSENSE_H |
2 | #define _INVENSENSE_H |
| 3 | 3 | ||
| 4 | #include "sensors.h" |
4 | #include "sensors.h" |
| 5 | 5 | ||
| 6 | #define GYRO_HW_NAME "ISens" |
6 | #define GYRO_HW_NAME "ISens" |
| 7 | 7 | ||
| 8 | /* |
- | |
| 9 | * Configuration for my prototype board with InvenSense gyros. |
- | |
| 10 | * The FC 1.3 board is installed upside down, therefore 2 acc. meters are reversed. |
- | |
| 11 | */ |
- | |
| 12 | #define ACC_REVERSE_ROLLAXIS yes |
- | |
| 13 | #define ACC_REVERSE_ZAXIS yes |
- | |
| 14 | - | ||
| 15 | /* |
8 | /* |
| 16 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
9 | * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
| 17 | * but they have a wider range too. |
10 | * but they have a wider range too. |
| 18 | * 2mV/deg/s gyros and no amplifiers: |
11 | * 2mV/deg/s gyros and no amplifiers: |
| 19 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
12 | * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| 20 | */ |
13 | */ |
| 21 | #define GYRO_HW_FACTOR 0.6827f |
14 | #define GYRO_HW_FACTOR 0.6827f |
| 22 | 15 | ||
| 23 | /* |
16 | /* |
| 24 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
17 | * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
| 25 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
18 | * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
| 26 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
19 | * If the hardware related contants are set correctly, flight should be OK without bothering to |
| 27 | * make any adjustments here. It is only for luxury. |
20 | * make any adjustments here. It is only for luxury. |
| 28 | */ |
21 | */ |
| 29 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
22 | #define GYRO_PITCHROLL_CORRECTION 0.93f |
| 30 | 23 | ||
| 31 | /* |
24 | /* |
| 32 | * Same for yaw. |
25 | * Same for yaw. |
| 33 | */ |
26 | */ |
| 34 | #define GYRO_YAW_CORRECTION 0.97f |
27 | #define GYRO_YAW_CORRECTION 0.97f |
| 35 | - | ||
| 36 | /* |
- | |
| 37 | * Yaw axis is reverse. |
- | |
| 38 | */ |
- | |
| 39 | #define GYRO_REVERSE_YAW yes |
- | |
| 40 | 28 | ||
| 41 | #endif |
29 | #endif |
| 42 | 30 | ||