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 In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)
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 In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0)
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 or 4 (other versions), offset to zero, low pass filtered and then assigned
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 or 4 (other versions), offset to zero, low pass filtered and then assigned
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 to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or
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 to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or
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 roll. The factor 2 or 4 or whatever is called GYRO_FACTOR_PITCHROLL here.
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 roll. The factor 2 or 4 or whatever is called GYRO_FACTOR_PITCHROLL here.
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*/
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*/
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#define GYRO_FACTOR_PITCHROLL 1
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/*
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/*
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 GYRO_HW_FACTOR is the relation between rotation rate and ADCValue:
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 GYRO_HW_FACTOR is the relation between rotation rate and ADCValue:
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 ADCValue [units] =
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 ADCValue [units] =
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/*
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/*
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 * How many samples are added in one ADC loop, for pitch&roll and yaw,
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 * How many samples are added in one ADC loop, for pitch&roll and yaw,
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 * respectively. This is = the number of occurences of each channel in the
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 * respectively. This is = the number of occurences of each channel in the
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 * channelsForStates array in analog.c.
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 * channelsForStates array in analog.c.
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 */
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 */
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#define GYRO_OVERSAMPLING_PITCHROLL 4
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#define GYRO_OVERSAMPLING_YAW 2
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#define GYRO_OVERSAMPLING 4
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#define ACC_OVERSAMPLING_XY 2
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//#define ACC_OVERSAMPLING_XY 2
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#define ACC_OVERSAMPLING_Z 1
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//#define ACC_OVERSAMPLING_Z 1
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/*
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/*
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 * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate.
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 */
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 * The product of the 3 above constants. This represents the expected change in ADC value sums for 1 deg/s of rotation rate.
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#define GYRO_RATE_FACTOR_PITCHROLL (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_PITCHROLL * GYRO_FACTOR_PITCHROLL)
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 */
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#define GYRO_RATE_FACTOR_YAW (GYRO_HW_FACTOR * GYRO_OVERSAMPLING_YAW)
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#define GYRO_RATE_FACTOR (GYRO_HW_FACTOR * GYRO_OVERSAMPLING)
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/*
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/*
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 * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
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 * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor.
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 * Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
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 * Will be about 10 or so for InvenSense, and about 33 for ADXRS610.
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 */
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 */
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/*
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/*
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 * Gyro saturation prevention.
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 * Gyro saturation prevention.
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 */
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 */
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// How far from the end of its range a gyro is considered near-saturated.
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// How far from the end of its range a gyro is considered near-saturated.
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#define SENSOR_MIN_PITCHROLL 32
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#define SENSOR_MIN 32
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// Other end of the range (calculated)
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// Other end of the range (calculated)
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#define SENSOR_MAX_PITCHROLL (GYRO_OVERSAMPLING_PITCHROLL * 1023 - SENSOR_MIN_PITCHROLL)
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#define SENSOR_MAX (GYRO_OVERSAMPLING * 1023 - SENSOR_MIN)
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// Max. boost to add "virtually" to gyro signal at total saturation.
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// Max. boost to add "virtually" to gyro signal at total saturation.
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#define EXTRAPOLATION_LIMIT 2500
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#define EXTRAPOLATION_LIMIT 2500
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// Slope of the boost (calculated)
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// Slope of the boost (calculated)
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#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN_PITCHROLL)
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#define EXTRAPOLATION_SLOPE (EXTRAPOLATION_LIMIT/SENSOR_MIN)
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/*
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/*
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 * This value is subtracted from the gyro noise measurement in each iteration,
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 * This value is subtracted from the gyro noise measurement in each iteration,
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 * making it return towards zero.
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 * making it return towards zero.
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 */
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 */
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#define GYRO_NOISE_MEASUREMENT_DAMPING 5
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#define GYRO_NOISE_MEASUREMENT_DAMPING 5
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#define PITCH 0
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#define PITCH 0
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#define ROLL 1
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#define ROLL 1
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#define YAW 2
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#define YAW 2
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#define Z 2
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//#define Z 2
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/*
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/*
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 * The values that this module outputs
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 * The values that this module outputs
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 * These first 2 exported arrays are zero-offset. The "PID" ones are used
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 * These first 2 exported arrays are zero-offset. The "PID" ones are used
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 * in the attitude control as rotation rates. The "ATT" ones are for
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 * in the attitude control as rotation rates. The "ATT" ones are for
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 * integration to angles. For the same axis, the PID and ATT variables
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 * integration to angles. For the same axis, the PID and ATT variables
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 * generally have about the same values. There are just some differences
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 * generally have about the same values. There are just some differences
- 
 
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 * in filtering, and when a gyro becomes near saturated.
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 * in filtering, and when a gyro becomes near saturated.
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 * Maybe this distinction is not really necessary.
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 * Maybe this distinction is not really necessary.
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 */
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 */
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extern int16_t gyro_PID[2];
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extern int16_t gyro_PID[3];
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extern int16_t gyro_ATT[2];
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extern int16_t gyro_ATT[3];
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#define GYRO_D_WINDOW_LENGTH 8
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#define GYRO_D_WINDOW_LENGTH 8
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extern int16_t gyroD[3];
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extern int16_t yawGyro;
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extern int16_t gyroD[3];
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extern int16_t UBat;
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extern int16_t UBat;
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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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 */
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 */
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//extern volatile int16_t rawGyroSum[3];
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//extern volatile int16_t rawGyroSum[3];
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void analog_calibrateGyros(void);
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void analog_calibrateGyros(void);
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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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