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#include "timer0.h"
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#include "timer0.h"
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#include "configuration.h"
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#include "configuration.h"
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#include <avr/io.h>
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/*
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 * Configuration for my prototype board with InvenSense gyros.
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 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
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 */
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const uint8_t GYRO_REVERSED[3] = {0,0,0};
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#include <avr/io.h>
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const uint8_t ACC_REVERSED[3] = {0,0,1};
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#define AUTOZERO_PORT PORTD
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#define AUTOZERO_PORT PORTD
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#define AUTOZERO_DDR DDRD
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#define AUTOZERO_BIT 5
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#define AUTOZERO_DDR DDRD
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const uint8_t GYROS_REVERSE[2] = {0,0};
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#define AUTOZERO_BIT 5
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void gyro_calibrate() {
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void gyro_calibrate() {
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  // If port not already set to output and high, do it.
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  // If port not already set to output and high, do it.
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}
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}
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void gyro_setDefaults(void) {
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void gyro_setDefaults(void) {
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  staticParams.GyroD = 3;
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  staticParams.GyroD = 3;
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  staticParams.GyroAccFactor = 1;
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  staticParams.GyroAccFactor = 1;
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  staticParams.DriftComp = 1;
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  staticParams.DriftComp = 10;  
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  // Not used.
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  // Not used.
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  staticParams.AngleTurnOverPitch = 85;
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  staticParams.AngleTurnOverPitch = 85;