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Added gyro overflow checking and handling. Helps avoid YSTTM

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This commit is contained in:
Martin Budden 2017-12-14 14:19:07 +00:00
parent c3de899d47
commit b26ff88fd9
6 changed files with 112 additions and 34 deletions
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3
src/main/sensors/gyro.h
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@ -63,6 +63,8 @@ typedef struct gyroConfig_s {
uint16_t gyro_soft_notch_cutoff_1;
uint16_t gyro_soft_notch_hz_2;
uint16_t gyro_soft_notch_cutoff_2;
uint16_t overflowResetThreshold;
bool checkOverflow;
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);
@ -83,3 +85,4 @@ bool isGyroCalibrationComplete(void);
void gyroReadTemperature(void);
int16_t gyroGetTemperature(void);
int16_t gyroRateDps(int axis);
bool gyroOverflowDetected(void);