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Replace gyroData with gyroADC in gtune.c after rebase

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This commit is contained in:
Michael Jakob 2015-05-30 02:04:46 +02:00
parent 31dd2fc223
commit edf08648bc
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/gtune.c
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@ -32,6 +32,7 @@
#include "drivers/accgyro.h" #include "drivers/accgyro.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
#include "flight/pid.h" #include "flight/pid.h"
@ -144,9 +145,9 @@ void calculate_Gtune(uint8_t axis)
time_skip[axis]++; time_skip[axis]++;
if (time_skip[axis] > 0) { if (time_skip[axis] > 0) {
if (axis == FD_YAW) { if (axis == FD_YAW) {
AvgGyro[axis] += 32 * ((int16_t)gyroData[axis] / 32); // Chop some jitter and average AvgGyro[axis] += 32 * ((int16_t)gyroADC[axis] / 32); // Chop some jitter and average
} else { } else {
AvgGyro[axis] += 128 * ((int16_t)gyroData[axis] / 128); // Chop some jitter and average AvgGyro[axis] += 128 * ((int16_t)gyroADC[axis] / 128); // Chop some jitter and average
} }
} }
if (time_skip[axis] == pidProfile->gtune_average_cycles) { // Looptime cycles for gyro average calculation. default 16. if (time_skip[axis] == pidProfile->gtune_average_cycles) { // Looptime cycles for gyro average calculation. default 16.