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| 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(); |