mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
35 lines
1.1 KiB
C
35 lines
1.1 KiB
C
#pragma once
|
|
|
|
#define CALIBRATING_GYRO_CYCLES 1000
|
|
#define CALIBRATING_ACC_CYCLES 400
|
|
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
|
|
|
|
typedef enum {
|
|
SENSOR_GYRO = 1 << 0, // always present
|
|
SENSOR_ACC = 1 << 1,
|
|
SENSOR_BARO = 1 << 2,
|
|
SENSOR_MAG = 1 << 3,
|
|
SENSOR_SONAR = 1 << 4,
|
|
SENSOR_GPS = 1 << 5,
|
|
SENSOR_GPSMAG = 1 << 6,
|
|
} AvailableSensors;
|
|
|
|
typedef enum {
|
|
ALIGN_DEFAULT = 0, // driver-provided alignment
|
|
CW0_DEG = 1,
|
|
CW90_DEG = 2,
|
|
CW180_DEG = 3,
|
|
CW270_DEG = 4,
|
|
CW0_DEG_FLIP = 5,
|
|
CW90_DEG_FLIP = 6,
|
|
CW180_DEG_FLIP = 7,
|
|
CW270_DEG_FLIP = 8
|
|
} sensor_align_e;
|
|
|
|
typedef struct sensorAlignmentConfig_s {
|
|
sensor_align_e gyro_align; // gyro alignment
|
|
sensor_align_e acc_align; // acc alignment
|
|
sensor_align_e mag_align; // mag alignment
|
|
} sensorAlignmentConfig_t;
|
|
|
|
extern int16_t heading;
|