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Rev 2015 | Rev 2018 | ||
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14 | * How much low pass filtering to apply for gyro_ATT. |
14 | * How much low pass filtering to apply for gyro_ATT. |
15 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
15 | * 0=illegal, 1=no filtering, 2=50% last value + 50% new value, 3=67% last value + 33 % new value etc... |
16 | * Temporarily replaced by userparam-configurable variable. |
16 | * Temporarily replaced by userparam-configurable variable. |
17 | */ |
17 | */ |
18 | // #define GYROS_ATT_FILTER 1 |
18 | // #define GYROS_ATT_FILTER 1 |
19 | // Temporarily replaced by userparam-configurable variable. |
- | |
20 | // #define ACC_FILTER 4 |
19 | // #define ACC_FILTER 4 |
Line 21... | Line 20... | ||
21 | 20 | ||
22 | /* |
21 | /* |
23 | About setting constants for different gyros: |
22 | About setting constants for different gyros: |
Line 27... | Line 26... | ||
27 | A gyro is considered, in this code, to be "forward" if its positive |
26 | A gyro is considered, in this code, to be "forward" if its positive |
28 | direction is: |
27 | direction is: |
29 | - Nose down for pitch |
28 | - Nose down for pitch |
30 | - Left hand side down for roll |
29 | - Left hand side down for roll |
31 | - Clockwise seen from above for yaw. |
30 | - Clockwise seen from above for yaw. |
32 | Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
- | |
33 | GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
- | |
34 | 31 | |
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35 | Setting gyro gain correctly: All sensor measurements in analog.c take |
32 | Setting gyro gain correctly: All sensor measurements in analog.c take |
36 | place in a cycle, each cycle comprising all sensors. Some sensors are |
33 | place in a cycle, each cycle comprising all sensors. Some sensors are |
37 | sampled more than ones, and the results added. The pitch and roll gyros |
34 | sampled more than ones, and the results added. The pitch and roll gyros |
38 | are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
35 | are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
39 | code. |
36 | code. |