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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
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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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src/mw.h
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@ -119,6 +119,7 @@ typedef struct config_t {
uint16_t gyro_lpf; // mpuX050 LPF setting
uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
uint8_t mpu6050_scale; // seems es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. fucking invenshit won't release chip IDs so I can't autodetect it.
uint16_t activate[CHECKBOXITEMS]; // activate switches
uint8_t vbatscale; // adjust this to match battery voltage to reported value