Subversion Repositories FlightCtrl

Rev

Rev 1775 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1775 Rev 1821
Line 1... Line 1...
1 
/*
 1 
/*
2 
#ifndef _INVENSENSE_H
 2 
 #ifndef _INVENSENSE_H
3 
#define _INVENSENSE_H
 3 
 #define _INVENSENSE_H
Line 4... Line 4...
4 
 
 4 
 
Line 5... Line 5...
5 
#include "sensors.h"
 5 
 #include "sensors.h"
Line 6... Line 6...
6 
 
 6 
 
7 
#define GYRO_HW_NAME "ISens"
 7 
 #define GYRO_HW_NAME "ISens"
8 
 
 8 
 
9 
/ *
 9 
 / *
10 
 * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME,
 10 
 * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME,
11 
 * but they have a wider range too.
 11 
 * but they have a wider range too.
12 
 * 2mV/deg/s gyros and no amplifiers:
 12 
 * 2mV/deg/s gyros and no amplifiers:
Line 13... Line 13...
13 
 * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
 13 
 * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s)
14 
 * /
 14 
 * /
15 
#define GYRO_HW_FACTOR 0.6827f
 15 
 #define GYRO_HW_FACTOR 0.6827f
16 
 
 16 
 
17 
/ *
 17 
 / *
18 
 * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees.
 18 
 * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees.
19 
 * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90.
 19 
 * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90.
Line 20... Line 20...
20 
 * If the hardware related contants are set correctly, flight should be OK without bothering to
 20 
 * If the hardware related contants are set correctly, flight should be OK without bothering to
21 
 * make any adjustments here. It is only for luxury.
 21 
 * make any adjustments here. It is only for luxury.
22 
 * /
 22 
 * /
23 
#define GYRO_PITCHROLL_CORRECTION 0.93f
 23 
 #define GYRO_PITCHROLL_CORRECTION 0.93f
24 
 
 24 
 
25 
/ *
 25 
 / *