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| Rev 1080 | Rev 1097 | ||
|---|---|---|---|
| Line 242... | Line 242... | ||
| 242 | void Mean(void) |
242 | void Mean(void) |
| 243 | { |
243 | { |
| 244 | static int32_t tmpl,tmpl2; |
244 | static int32_t tmpl,tmpl2; |
| Line 245... | Line 245... | ||
| 245 | 245 | ||
| 246 | // Get offset corrected gyro readings (~ to angular velocity) |
246 | // Get offset corrected gyro readings (~ to angular velocity) |
| 247 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
247 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| 248 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
248 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Line 249... | Line 249... | ||
| 249 | Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
249 | Reading_GyroNick = AdValueGyrNick - AdNeutralNick; |
| 250 | 250 | ||
| 251 | // Acceleration Sensor |
251 | // Acceleration Sensor |
| 252 | // sliding average sensor readings |
252 | // sliding average sensor readings |
| 253 | Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
253 | Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L; |
| Line 254... | Line 254... | ||
| 254 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
254 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
| 255 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
255 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |