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Add option to check gyro overflow on yaw or all axes

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This commit is contained in:
Martin Budden 2017-12-20 19:39:12 +00:00
parent eccdf2d4a5
commit 2281c9ab8c
5 changed files with 46 additions and 6 deletions
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9
src/main/sensors/gyro.h
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@ -49,6 +49,12 @@ typedef struct gyro_s {
extern gyro_t gyro;
typedef enum {
GYRO_OVERFLOW_CHECK_NONE = 0,
GYRO_OVERFLOW_CHECK_YAW,
GYRO_OVERFLOW_CHECK_ALL_AXES
} gyroOverflowCheck_e;
typedef struct gyroConfig_s {
sensor_align_e gyro_align; // gyro alignment
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
@ -63,8 +69,7 @@ typedef struct gyroConfig_s {
uint16_t gyro_soft_notch_cutoff_1;
uint16_t gyro_soft_notch_hz_2;
uint16_t gyro_soft_notch_cutoff_2;
uint16_t overflowResetThreshold;
bool checkOverflow;
gyroOverflowCheck_e checkOverflow;
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);