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| 6 | #define _ATTITUDE_H |
6 | #define _ATTITUDE_H |
| Line 7... | Line 7... | ||
| 7 | 7 | ||
| Line 8... | Line 8... | ||
| 8 | #include <inttypes.h> |
8 | #include <inttypes.h> |
| 9 | - | ||
| 10 | #include "analog.h" |
- | |
| 11 | 9 | ||
| Line 12... | Line 10... | ||
| 12 | // For debugging only. |
10 | #include "analog.h" |
| 13 | #include "uart0.h" |
11 | #include "timer0.h" |
| 14 | 12 | ||
| 15 | /* |
13 | /* |
| Line 25... | Line 23... | ||
| 25 | #define ROLLOVER_HYSTERESIS 0L |
23 | #define ROLLOVER_HYSTERESIS 0L |
| Line 26... | Line 24... | ||
| 26 | 24 | ||
| 27 | /* |
25 | /* |
| 28 | * The frequency at which numerical integration takes place. 488 in original code. |
26 | * The frequency at which numerical integration takes place. 488 in original code. |
| 29 | */ |
27 | */ |
| Line 30... | Line 28... | ||
| 30 | #define INTEGRATION_FREQUENCY 488 |
28 | #define INTEGRATION_FREQUENCY F_MAINLOOP |
| 31 | 29 | ||
| 32 | /* |
30 | /* |
| 33 | * Gyro readings are divided by this before being used in attitude control. This will scale them |
31 | * Gyro readings are divided by this before being used in attitude control. This will scale them |
| Line 57... | Line 55... | ||
| 57 | Examples: |
55 | Examples: |
| 58 | FC1.3: GYRO_DEG_FACTOR_PITCHROLL = 2545 |
56 | FC1.3: GYRO_DEG_FACTOR_PITCHROLL = 2545 |
| 59 | FC2.0: GYRO_DEG_FACTOR_PITCHROLL = 2399 |
57 | FC2.0: GYRO_DEG_FACTOR_PITCHROLL = 2399 |
| 60 | My InvenSense copter: GYRO_DEG_FACTOR_PITCHROLL = 1333 |
58 | My InvenSense copter: GYRO_DEG_FACTOR_PITCHROLL = 1333 |
| 61 | */ |
59 | */ |
| - | 60 | //#define GYRO_PITCHROLL_CORRECTION GYRO_PITCHROLL_CORRECTION_should_be_overridden_with_a_-D_at_compile_time |
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| 62 | #define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
61 | #define GYRO_DEG_FACTOR_PITCHROLL (uint16_t)(GYRO_RATE_FACTOR_PITCHROLL * INTEGRATION_FREQUENCY * GYRO_PITCHROLL_CORRECTION / HIRES_GYRO_INTEGRATION_FACTOR) |
| 63 | #define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
62 | #define GYRO_DEG_FACTOR_YAW (uint16_t)(GYRO_RATE_FACTOR_YAW * INTEGRATION_FREQUENCY * GYRO_YAW_CORRECTION) |
| Line 64... | Line 63... | ||
| 64 | 63 | ||
| 65 | /* |
64 | /* |