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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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2
src/main/fc/fc_msp.c
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@ -612,7 +612,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, accSmooth[i] / scale);
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroADC[i]);
sbufWriteU16(dst, lrintf(gyroADCf[i] / gyro.scale));
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, magADC[i]);