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corrected gyro scale factor for MPU3000/6000

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fixed fy90q battery adc (which didn't actually exist)
spektrum channel order is configurable by 'map' command (maybe).

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@147 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-04-09 15:01:51 +00:00
parent d9920756d9
commit 4087cc0ca7
7 changed files with 4415 additions and 3943 deletions
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5
src/imu.c
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@ -129,7 +129,10 @@ void computeIMU(void)
#define INV_GYR_CMPF_FACTOR (1.0f / (GYR_CMPF_FACTOR + 1.0f))
#define INV_GYR_CMPFM_FACTOR (1.0f / (GYR_CMPFM_FACTOR + 1.0f))
#define GYRO_SCALE ((2380 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) //should be 2279.44 but 2380 gives better result
#define GYRO_SCALE ((1998 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) // 32767 / 16.4lsb/dps for MPU3000
// #define GYRO_SCALE ((2380 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) //should be 2279.44 but 2380 gives better result (ITG-3200)
// +-2000/sec deg scale
//#define GYRO_SCALE ((200.0f * PI)/((32768.0f / 5.0f / 4.0f ) * 180.0f * 1000000.0f) * 1.5f)
// +- 200/sec deg scale