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Rev 1964 | Rev 1965 | ||
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Line 29... | Line 29... | ||
29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
30 | else |
30 | else |
31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
Line 32... | Line 32... | ||
32 | 32 | ||
33 | if (rawGyroSum[axis] < 510 * factor) |
33 | if (rawGyroSum[axis] < 510 * factor) |
34 | DACValues[axis]--; |
34 | DACValues.offsets[axis]--; |
35 | else if (rawGyroSum[axis] > 515 * factor) |
35 | else if (rawGyroSum[axis] > 515 * factor) |
36 | DACValues[axis]++; |
36 | DACValues.offsets[axis]++; |
37 | else |
37 | else |
Line 38... | Line 38... | ||
38 | numberOfAxesInRange++; |
38 | numberOfAxesInRange++; |
39 | 39 | ||
40 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
40 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
41 | if (DACValues[axis] < 10) { |
41 | if (DACValues.offsets[axis] < 10) { |
42 | DACValues[axis] = 10; |
42 | DACValues.offsets[axis] = 10; |
43 | } else if (DACValues[axis] > 245) { |
43 | } else if (DACValues.offsets[axis] > 245) { |
44 | DACValues[axis] = 245; |
44 | DACValues.offsets[axis] = 245; |
Line 45... | Line 45... | ||
45 | } |
45 | } |