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updated and tested the auto-trim mode of the accell offsets. Works great, although it's slow, only .6° a second.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1525 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-23 00:35:51 +00:00
parent 7205208801
commit 09df4b35ea
1 changed files with 4 additions and 4 deletions
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8
ArduCopterMega/control_modes.pde
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@ -98,15 +98,15 @@ void read_trim_switch()
void trim_accel()
{
if(rc_1.control_in > 0){
imu.ay(imu.ay() - 1);
}else if (rc_1.control_in < 0){
imu.ay(imu.ay() + 1);
}else if (rc_1.control_in < 0){
imu.ay(imu.ay() - 1);
}
if(rc_2.control_in > 0){
imu.ax(imu.ax() - 1);
}else if (rc_2.control_in < 0){
imu.ax(imu.ax() + 1);
}else if (rc_2.control_in < 0){
imu.ax(imu.ax() - 1);
}
Serial.printf("r:%ld p:%ld ax:%d, ay:%d, az:%d\n", dcm.roll_sensor, dcm.pitch_sensor, imu.ax(), imu.ay(), imu.az());