Subversion Repositories FlightCtrl

Rev

Rev 1910 | Rev 2096 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1910 Rev 1927
Line 437... Line 437...
437
#define GYRO_OFFSET_CYCLES 32
437
#define GYRO_OFFSET_CYCLES 32
438
        uint8_t i, axis;
438
        uint8_t i, axis;
439
        int32_t deltaOffsets[3] = { 0, 0, 0 };
439
        int32_t deltaOffsets[3] = { 0, 0, 0 };
Line 440... Line 440...
440
 
440
 
441
        // Set the filters... to be removed again, once some good settings are found.
441
        // Set the filters... to be removed again, once some good settings are found.
442
        GYROS_PID_FILTER = (dynamicParams.UserParams[4] & (0x7 & (1<<0))) + 1;
442
        GYROS_PID_FILTER = (staticParams.sensorFilterSettings & (0x7 & (1<<0))) + 1;
443
        GYROS_ATT_FILTER = 1;
443
        GYROS_ATT_FILTER = 1;
444
        GYROS_D_FILTER =   (dynamicParams.UserParams[4] & (0x3 & (1<<4))) + 1;
444
        GYROS_D_FILTER =   (staticParams.sensorFilterSettings & (0x3 & (1<<4))) + 1;
Line 445... Line 445...
445
        ACC_FILTER =       (dynamicParams.UserParams[4] & (0x3 & (1<<6))) + 1;
445
        ACC_FILTER =       (staticParams.sensorFilterSettings & (0x3 & (1<<6))) + 1;
Line 446... Line 446...
446
 
446
 
447
        gyro_calibrate();
447
        gyro_calibrate();