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fixed bug in mpu6050 accel code

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added mpu6050 acc scale factor fixup for es/non es chips (exposed as cli option as well)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@191 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-07 08:00:16 +00:00
parent ecda218e8f
commit e894dba995
7 changed files with 1702 additions and 1693 deletions
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3
src/config.c
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@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 24;
uint8_t checkNewConf = 25;
void parseRcChannels(const char *input)
{
@ -137,6 +137,7 @@ void checkFirstTime(bool reset)
cfg.acc_lpf_factor = 4;
cfg.gyro_cmpf_factor = 400; // default MWC
cfg.gyro_lpf = 42;
cfg.mpu6050_scale = 1; // fuck invensense
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110;
cfg.vbatmaxcellvoltage = 43;