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Rev 2160 Rev 2189
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void gyro_init(void) {
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void gyro_init(void) {
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  // No amplifiers, no DAC.
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  // No amplifiers, no DAC.
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}
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}
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void gyro_setDefaultParameters(void) {
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void gyro_setDefaultParameters(void) {
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  IMUConfig.gyroQuadrant = 4;
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  IMUConfig.accQuadrant = 4;
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  IMUConfig.accQuadrant = 4;
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  IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_XY;
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  IMUConfig.imuReversedFlags = IMU_REVERSE_ACCEL_Z;
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  staticParams.gyroD = 5;
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  IMUConfig.driftCompDivider = 2;
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  IMUConfig.driftCompLimit = 3;
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  IMUConfig.zerothOrderCorrection = 3;
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  // staticParams.gyroD = 5;