Subversion Repositories FlightCtrl

Rev

Rev 1910 | Rev 2099 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1910 Rev 2023
Line 5... Line 5...
5 
//#include "invenSense.h"
 5 
//#include "invenSense.h"
6 
//#include "ENC-03_FC1.3.h"
 6 
//#include "ENC-03_FC1.3.h"
7 
//#include "ADXRS610_FC2.0.h"
 7 
//#include "ADXRS610_FC2.0.h"
Line 8... Line 8...
8 
 
 8 
 
9 
/*
 - 
 
10 
 * How much low pass filtering to apply for gyro_PID.
 - 
 
11 
 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
 - 
 
12 
 * Temporarily replaced by userparam-configurable variable.
 - 
 
13 
 */
 - 
 
14 
// #define GYROS_PID_FILTER 1
 - 
 
15 
 
 - 
 
16 
/*
 - 
 
17 
 * How much low pass filtering to apply for gyro_ATT.
 - 
 
18 
 * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc...
 - 
 
19 
 * Temporarily replaced by userparam-configurable variable.
 - 
 
20 
 */
 - 
 
21 
// #define GYROS_ATT_FILTER 1
 - 
 
22 
 
 - 
 
23 
// Temporarily replaced by userparam-configurable variable.
 - 
 
24 
// #define ACC_FILTER 4
 - 
 
25 
 
 - 
 
26 
/*
 9 
/*
27 
 About setting constants for different gyros:
 10 
 About setting constants for different gyros:
28 
 Main parameters are positive directions and voltage/angular speed gain.
 11 
 Main parameters are positive directions and voltage/angular speed gain.
29 
 The "Positive direction" is the rotation direction around an axis where
 12 
 The "Positive direction" is the rotation direction around an axis where
30 
 the corresponding gyro outputs a voltage > the no-rotation voltage.
 13 
 the corresponding gyro outputs a voltage > the no-rotation voltage.
31 
 A gyro is considered, in this code, to be "forward" if its positive
 14 
 A gyro is considered, in this code, to be "forward" if its positive
32 
 direction is:
 15 
 direction is:
33 
 - Nose down for pitch
 16 
 - Nose down for pitch
34 
 - Left hand side down for roll
 17 
 - Left hand side down for roll
35 
 - Clockwise seen from above for yaw.
 - 
 
36 
 Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and
 - 
 
Line 37... Line 18...
37 
 GYRO_REVERSE_PITCH #define's if the respective gyros are reverse.
 18 
 - Clockwise seen from above for yaw.
38 
 
 19 
 
39 
 Setting gyro gain correctly: All sensor measurements in analog.c take
 20 
 Setting gyro gain correctly: All sensor measurements in analog.c take
40 
 place in a cycle, each cycle comprising all sensors. Some sensors are
 21 
 place in a cycle, each cycle comprising all sensors. Some sensors are