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 and care has been taken that all other constants (gyro to degree factor, and

 and care has been taken that all other constants (gyro to degree factor, and

 180 degree flip-over detection limits) are corrected to it. Because the

 180 degree flip-over detection limits) are corrected to it. Because the

 division by the constant takes place in the flight attitude code, the

 division by the constant takes place in the flight attitude code, the

 constant is there.

 constant is there.

 The control loop executes every 2ms, and for each iteration

 The control loop executes at 488Hz, and for each iteration

 gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].

 gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL].

 Assuming a constant rotation rate v and a zero initial gyroIntegral

 Assuming a constant rotation rate v and a zero initial gyroIntegral

 (for this explanation), we get:

 (for this explanation), we get:

 gyroIntegral =

 gyroIntegral =

 N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR

 N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR

 where N is the number of summations; N = t/2ms.

 where N is the number of summations; N = t*488.

 This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.

 This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor.

 Examples:

 Examples:

 * Zero-offset accelerometers and write the calibration data to EEPROM.

 * Zero-offset accelerometers and write the calibration data to EEPROM.

 */

 */

void analog_calibrateAcc(void);

void analog_calibrateAcc(void);

void analog_setGround();

void analog_setGround(void);