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Changed gyro init and read functions to take a gyro_t* parameter.

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Scaled gyro values to degrees per second in gyroUpdate.
This commit is contained in:
Martin Budden 2016-11-19 14:11:03 +00:00
parent 55b32740d9
commit 590e569375
28 changed files with 136 additions and 124 deletions
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3
src/main/blackbox/blackbox.c
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@ -18,6 +18,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
@ -990,7 +991,7 @@ static void loadMainState(uint32_t currentTime)
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->gyroADC[i] = gyroADC[i];
blackboxCurrent->gyroADC[i] = lrintf(gyroADCf[i]);
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {