Rev 2160 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2160 | Rev 2164 | ||
|---|---|---|---|
| Line 291... | Line 291... | ||
| 291 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
291 | deltaCorrection = (correctionSum[axis] + round) / DRIFTCORRECTION_TIME; |
| 292 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
292 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
| 293 | driftComp[axis] += deltaCorrection / IMUConfig.driftCompDivider; |
293 | driftComp[axis] += deltaCorrection / IMUConfig.driftCompDivider; |
| 294 | CHECK_MIN_MAX(driftComp[axis], -IMUConfig.driftCompLimit, IMUConfig.driftCompLimit); |
294 | CHECK_MIN_MAX(driftComp[axis], -IMUConfig.driftCompLimit, IMUConfig.driftCompLimit); |
| 295 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
295 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
| 296 | debugOut.analog[6 + axis] = correctionSum[axis]; |
296 | debugOut.analog[18 + axis] = correctionSum[axis]; |
| 297 | debugOut.analog[13 + axis] = driftComp[axis]; |
297 | debugOut.analog[13 + axis] = driftComp[axis]; |
| 298 | correctionSum[axis] = 0; |
298 | correctionSum[axis] = 0; |
| 299 | } |
299 | } |
| 300 | } |
300 | } |
| 301 | } |
301 | } |