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| 34 | * to match the scale of the stick control etc. variables. This is just a rough non-precision |
34 | * to match the scale of the stick control etc. variables. This is just a rough non-precision |
| 35 | * scaling - the below definitions make precise conversion factors. |
35 | * scaling - the below definitions make precise conversion factors. |
| 36 | * Will be about 4 for InvenSense, 8 for FC1.3 and 8 for ADXRS610. |
36 | * Will be about 4 for InvenSense, 8 for FC1.3 and 8 for ADXRS610. |
| 37 | * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees. |
37 | * The number 1250 is derived from the original code: It has about 225000 = 1250 * 180 for 180 degrees. |
| 38 | */ |
38 | */ |
| - | 39 | #define HIRES_GYRO_INTEGRATION_FACTOR 1 |
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| 39 | #define HIRES_GYRO_INTEGRATION_FACTOR (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
40 | // (int)((GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION) / 1250) |
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| 40 | 41 | ||
| 41 | /* |
42 | /* |
| 42 | * Constant for deriving an attitude angle from acceleration measurement. |
43 | * Constant for deriving an attitude angle from acceleration measurement. |
| 43 | * |
44 | * |