Rev 2132 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2132 | Rev 2140 | ||
|---|---|---|---|
| Line 294... | Line 294... | ||
| 294 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
294 | tempGyro = (tempGyro - SENSOR_MAX) * EXTRAPOLATION_SLOPE + SENSOR_MAX; |
| 295 | } |
295 | } |
| 296 | } |
296 | } |
| Line 297... | Line 297... | ||
| 297 | 297 | ||
| 298 | // 2) Apply sign and offset, scale before filtering. |
298 | // 2) Apply sign and offset, scale before filtering. |
| 299 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
299 | tempOffsetGyro[axis] = (tempGyro - gyroOffset.offsets[axis]); |
| Line 300... | Line 300... | ||
| 300 | } |
300 | } |
| 301 | 301 | ||
| Line 318... | Line 318... | ||
| 318 | 318 | ||
| 319 | // 6) Done. |
319 | // 6) Done. |
| Line 320... | Line 320... | ||
| 320 | gyro_PID[axis] = tempOffsetGyro[axis]; |
320 | gyro_PID[axis] = tempOffsetGyro[axis]; |
| 321 | 321 | ||
| 322 | // Prepare tempOffsetGyro for next calculation below... |
322 | // Prepare tempOffsetGyro for next calculation below... |
| Line 323... | Line 323... | ||
| 323 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis] + IMUConfig.gyroCalibrationTweak[axis]); |
323 | tempOffsetGyro[axis] = (rawGyroValue(axis) - gyroOffset.offsets[axis]); |
| 324 | } |
324 | } |
| 325 | 325 | ||