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Moved further gyro parameters into gyroConfig_t

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This commit is contained in:
Martin Budden 2016-11-24 07:24:17 +00:00
parent 0f082201f4
commit 78e6130aab
10 changed files with 41 additions and 50 deletions
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7
src/main/sensors/gyro.h
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@ -42,17 +42,18 @@ extern float gyroADCf[XYZ_AXIS_COUNT];
typedef struct gyroConfig_s {
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
uint8_t gyro_sync_denom; // Gyro sample divider
uint8_t gyro_soft_lpf_type;
uint8_t gyro_soft_lpf_hz;
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_soft_notch_hz_1;
uint16_t gyro_soft_notch_cutoff_1;
uint16_t gyro_soft_notch_hz_2;
uint16_t gyro_soft_notch_cutoff_2;
uint8_t gyro_soft_lpf_type;
} gyroConfig_t;
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse);
void gyroSetCalibrationCycles(void);
void gyroInit(void);
void gyroInit(const gyroConfig_t *gyroConfigToUse);
void gyroUpdate(void);
bool isGyroCalibrationComplete(void);