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| 446 | case 17: |
446 | case 17: |
| 447 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
447 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| 448 | // This is divided by 3 --> 10.34 counts per volt. |
448 | // This is divided by 3 --> 10.34 counts per volt. |
| 449 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
449 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| 450 | DebugOut.Analog[11] = HIRES_GYRO_INTEGRATION_FACTOR;//UBat; |
450 | DebugOut.Analog[11] = UBat; |
| 451 | analogDataReady = 1; // mark |
451 | analogDataReady = 1; // mark |
| 452 | ADCycleCount++; |
452 | ADCycleCount++; |
| 453 | // Stop the sampling. Cycle is over. |
453 | // Stop the sampling. Cycle is over. |
| 454 | state = 0; |
454 | state = 0; |
| Line 491... | Line 491... | ||
| 491 | deltaOffsets[axis] += rawGyroSum[axis]; |
491 | deltaOffsets[axis] += rawGyroSum[axis]; |
| 492 | } |
492 | } |
| 493 | } |
493 | } |
| Line 494... | Line 494... | ||
| 494 | 494 | ||
| 495 | for (axis = PITCH; axis <= YAW; axis++) { |
495 | for (axis = PITCH; axis <= YAW; axis++) { |
| 496 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) |
- | |
| 497 | / GYRO_OFFSET_CYCLES; |
496 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
| 498 | DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
497 | // DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
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| 499 | } |
498 | } |
| 500 | 499 | ||