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| Rev 2122 | Rev 2124 | ||
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| Line 410... | Line 410... | ||
| 410 | int32_t offsets[4] = { 0, 0, 0, 0 }; |
410 | int32_t offsets[4] = { 0, 0, 0, 0 }; |
| 411 | gyro_calibrate(); |
411 | gyro_calibrate(); |
| Line 412... | Line 412... | ||
| 412 | 412 | ||
| 413 | // determine gyro bias by averaging (requires that the aircraft does not rotate around any axis!) |
413 | // determine gyro bias by averaging (requires that the aircraft does not rotate around any axis!) |
| 414 | for (i = 0; i < OFFSET_CYCLES; i++) { |
414 | for (i = 0; i < OFFSET_CYCLES; i++) { |
| 415 | delay_ms_with_adc_measurement(2, 1); |
415 | delay_ms_with_adc_measurement(4, 1); |
| 416 | for (axis = PITCH; axis <= YAW; axis++) { |
416 | for (axis = PITCH; axis <= YAW; axis++) { |
| 417 | offsets[axis] += rawGyroValue(axis); |
417 | offsets[axis] += rawGyroValue(axis); |
| 418 | } |
418 | } |
| 419 | offsets[3] += sensorInputs[AD_AIRPRESSURE]; |
419 | offsets[3] += sensorInputs[AD_AIRPRESSURE]; |