sixaxis: equalize scale
@@ -215,15 +215,15 @@ void sixaxis_read(void) {
gyro_raw[2] = -gyro_raw[2];
}
- //gyro_raw[0] = - gyro_raw[0];
- gyro_raw[1] = -gyro_raw[1];
- gyro_raw[2] = -gyro_raw[2];
+ gyro_raw[0] = gyro_raw[0] * 0.061035156f * DEGTORAD;
+ gyro_raw[1] = -gyro_raw[1] * 0.061035156f * DEGTORAD;
+ gyro_raw[2] = -gyro_raw[2] * 0.061035156f * DEGTORAD;
filter_coeff(profile.filter.gyro[0].type, &filter[0], profile.filter.gyro[0].cutoff_freq);
filter_coeff(profile.filter.gyro[1].type, &filter[1], profile.filter.gyro[1].cutoff_freq);
for (int i = 0; i < 3; i++) {
- gyro[i] = gyro_raw[i] * 0.061035156f * DEGTORAD;
+ gyro[i] = gyro_raw[i];
gyro[i] = filter_step(profile.filter.gyro[0].type, &filter[0], &filter_state[0][i], gyro[i]);
gyro[i] = filter_step(profile.filter.gyro[1].type, &filter[1], &filter_state[1][i], gyro[i]);
