/* gyro defines */
#define GYRO_MAX_ERR 0.05f
-#define GYRO_DS_SIZE 8
+#define GYRO_DS_SIZE 100
struct compass_cal {
/* hard iron offsets */
};
struct gyro_cal {
- float bias[3];
- int start;
+ float bias_x, bias_y, bias_z;
int count;
- float sample[GYRO_DS_SIZE][3];
+ float min_x, min_y, min_z;
+ float max_x, max_y, max_z;
};
typedef double mat_input_t[DS_SIZE][3];