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beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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timecop@gmail.com 2013-09-14 12:27:26 +00:00
parent edb0ef01b7
commit 1cc306493b
15 changed files with 213 additions and 747 deletions
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src/mw.h
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@ -251,7 +251,9 @@ typedef struct master_t {
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
// global sensor-related stuff
int8_t align[3][3]; // acc, gyro, mag alignment (ex: with sensor output of X, Y, Z, align of 1 -3 2 would return X, -Z, Y)
sensor_align_e gyro_align; // gyro alignment
sensor_align_e acc_align; // acc alignment
sensor_align_e mag_align; // mag alignment
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.