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| Rev 1964 | Rev 1965 | ||
|---|---|---|---|
| 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 | } |