Helicopter/firmware
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Better routing

Browse Source
This commit is contained in:
Goga Coder
2024-01-18 19:30:25 +07:00
parent 5dd404d44b
commit 2aa9648dd4
8 changed files with 247 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
Sensors/MPU.hpp
View File

@@ -127,14 +127,14 @@ class MPU {
if (_isCalibration) {
return degrees(_ypr[1]);
} else {
return degrees(_ypr[1] - _yprOffset[1]);
return degrees(_ypr[1] - _prOffset[0]);
}
}
float roll() const {
if (_isCalibration) {
return degrees(_ypr[2]);
} else {
return degrees(_ypr[2] - _yprOffset[2]);
return degrees(_ypr[2] - _prOffset[1]);
}
}
@@ -204,7 +204,7 @@ class MPU {
float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
float _prOffset[2]; // yaw isn't used
float _prOffset[2]; // yaw isn't used
uint8_t _fifoBuffer[45];
Preferences _preferences;