2 * This file is part of Cleanflight.
4 * Cleanflight is free software: you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 3 of the License, or
7 * (at your option) any later version.
9 * Cleanflight is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
33 extern sensor_align_e gyroAlign
;
35 extern int32_t gyroADC
[XYZ_AXIS_COUNT
];
36 extern float gyroADCf
[XYZ_AXIS_COUNT
];
38 typedef struct gyroConfig_s
{
39 uint8_t gyroMovementCalibrationThreshold
; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
40 uint8_t gyro_lpf
; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
41 uint8_t gyro_soft_type
; // Gyro Filter Type
42 uint16_t gyro_soft_lpf_hz
; // Software based gyro filter in hz
43 uint16_t gyro_soft_notch_hz
; // Biquad gyro notch hz
44 uint16_t gyro_soft_notch_cutoff_hz
; // Biquad gyro notch low cutoff in hz
47 PG_DECLARE(gyroConfig_t
, gyroConfig
);
50 void gyroUpdate(void);
51 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired
);
52 bool isGyroCalibrationComplete(void);