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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | #include <avr/io.h> |
51 | #include <avr/io.h> |
| 52 | #include <avr/interrupt.h> |
52 | #include <avr/interrupt.h> |
| 53 | #include <avr/pgmspace.h> |
53 | #include <avr/pgmspace.h> |
| 54 | #include "analog.h" |
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| - | 54 | ||
| - | 55 | #include "analog.h" |
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| 55 | 56 | #include "attitude.h" |
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| Line 56... | Line 57... | ||
| 56 | #include "sensors.h" |
57 | #include "sensors.h" |
| 57 | 58 | ||
| Line 444... | Line 445... | ||
| 444 | 445 | ||
| 445 | case 17: |
446 | case 17: |
| 446 | // 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). |
| 447 | // This is divided by 3 --> 10.34 counts per volt. |
448 | // This is divided by 3 --> 10.34 counts per volt. |
| 448 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
449 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| 449 | DebugOut.Analog[11] = UBat; |
450 | DebugOut.Analog[11] = HIRES_GYRO_INTEGRATION_FACTOR;//UBat; |
| 450 | analogDataReady = 1; // mark |
451 | analogDataReady = 1; // mark |
| 451 | ADCycleCount++; |
452 | ADCycleCount++; |
| 452 | // Stop the sampling. Cycle is over. |
453 | // Stop the sampling. Cycle is over. |
| 453 | state = 0; |
454 | state = 0; |