Subversion Repositories FlightCtrl

#ifndef _SENSORS_H
#define _SENSORS_H

#include <inttypes.h>
#include "configuration.h"

/*
 * Whether (pitch, roll, yaw) gyros are reversed (see analog.h).
 */
extern const uint8_t GYRO_REVERSED[3];

/*
 * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h).
 */
extern const uint8_t ACC_REVERSED[3];
extern volatile sensorOffset_t gyroAmplifierOffset;

/*
 * Common procedures for all gyro types.
 * FC 1.3 hardware: Searching the DAC values that return neutral readings.
 * FC 2.0 hardware: Nothing to do.
 * InvenSense hardware: Output a pulse on the AUTO_ZERO line.
 */
void gyro_calibrate(void);

/*
 * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing.
 */
void gyro_loadOffsets(uint8_t overwriteWithDefaults);

/*
 * Set some default FC parameters, depending on gyro type: Drift correction etc.
 */
void gyro_setDefaults(void);

#endif