Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

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

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/pid.c
View file

@ -244,7 +244,7 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
}
}
const float PVRate = gyroADCf[axis] / 16.4f; // Process variable from gyro output in deg/sec
const float PVRate = gyroADCf[axis]; // Process variable from gyro output in deg/sec
// --------low-level gyro-based PID based on 2DOF PID controller. ----------
// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------