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Merge pull request #5907 from etracer65/gyro_calib_fix

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Fix gyro calibration zero offset calculation
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Michael Keller 2018-05-17 07:11:13 +12:00 • committed by GitHub
commit 2cb8f7e3e6
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src/main/sensors/gyro.c
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@ -933,7 +933,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
}
// please take care with exotic boardalignment !!
gyroSensor->gyroDev.gyroZero[axis] = gyroSensor->calibration.sum[axis] / gyroCalculateCalibratingCycles();
gyroSensor->gyroDev.gyroZero[axis] = (float)gyroSensor->calibration.sum[axis] / (float)gyroCalculateCalibratingCycles();
if (axis == Z) {
gyroSensor->gyroDev.gyroZero[axis] -= ((float)gyroConfig()->gyro_offset_yaw / 100);
}