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Rev 2099 Rev 2102
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// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.
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// 1:11 voltage divider, 1024 counts per 3V, and result is divided by 3.
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#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))
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#define UBAT_AT_5V (int16_t)((5.0 * (1.0/11.0)) * 1024 / (3.0 * 3))
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extern sensorOffset_t gyroOffset;
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extern sensorOffset_t gyroOffset;
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//extern sensorOffset_t accOffset;
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//extern sensorOffset_t accOffset;
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extern sensorOffset_t gyroAmplifierOffset;
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//extern sensorOffset_t gyroAmplifierOffset;
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/*
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/*
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 * This is not really for external use - but the ENC-03 gyro modules needs it.
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 * This is not really for external use - but the ENC-03 gyro modules needs it.
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 * Diagnostics: Gyro noise level because of motor vibrations. The variables
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 * Diagnostics: Gyro noise level because of motor vibrations. The variables
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 * only really reflect the noise level when the copter stands still but with
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 * only really reflect the noise level when the copter stands still but with
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 * its motors running.
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 * its motors running.
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 */
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 */
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extern uint16_t gyroNoisePeak[3];
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extern uint16_t gyroNoisePeak[3];
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extern uint16_t accNoisePeak[3];
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//extern uint16_t accNoisePeak[3];
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/*
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/*
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 * Air pressure.
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 * Air pressure.
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 * The sensor has a sensitivity of 45 mV/kPa.
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 * The sensor has a sensitivity of 45 mV/kPa.
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3503 mV = 5V(0.009P-0.095)  P = 88.4   kPa  h = 384m  Diff: 1079.5m
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3503 mV = 5V(0.009P-0.095)  P = 88.4   kPa  h = 384m  Diff: 1079.5m
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Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V
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Pressure at sea level: 101.3 kPa. voltage: 5V * (0.009P-0.095) = 4.0835V
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This is OCR2 = 143.15 at 1.5V in --> simple pressure =
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This is OCR2 = 143.15 at 1.5V in --> simple pressure =
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*/
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*/
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#define AIRPRESSURE_OVERSAMPLING 14
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#define AIRPRESSURE_FILTER 8
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// Minimum A/D value before a range change is performed.
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#define MIN_RAWPRESSURE (200 * 2)
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// Maximum A/D value before a range change is performed.
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#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
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#define MIN_RANGES_EXTRAPOLATION 15
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#define MAX_RANGES_EXTRAPOLATION 240
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#define PRESSURE_EXTRAPOLATION_COEFF 25L
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#define AUTORANGE_WAIT_FACTOR 1
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#define ABS_ALTITUDE_OFFSET 108205
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extern uint16_t simpleAirPressure;
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/*
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 * At saturation, the filteredAirPressure may actually be (simulated) negative.
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 */
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extern int32_t filteredAirPressure;
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extern int16_t magneticHeading;
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extern uint16_t simpleAirPressure;
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extern uint32_t gyroActivity;
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extern uint16_t airspeedVelocity;
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/*
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/*
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 * Flag: Interrupt handler has done all A/D conversion and processing.
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 * Flag: Interrupt handler has done all A/D conversion and processing.
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/*
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/*
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 * Zero-offset accelerometers and write the calibration data to EEPROM.
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 * Zero-offset accelerometers and write the calibration data to EEPROM.
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 */
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 */
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//void analog_calibrateAcc(void);
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//void analog_calibrateAcc(void);
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void analog_setGround(void);
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int32_t analog_getHeight(void);
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int16_t analog_getDHeight(void);
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