there is a bug in sensors.pde which will only manifest itself if you have oriented your wm+ away from stock position and changed the orientation XYZ at the top of sensors.pde
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#if !defined(ACC_ORIENTATION)
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;}
#endif
#if !defined(GYRO_ORIENTATION)
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y ; gyroADC[PITCH] = -X; gyroADC[YAW] = Z;}
#endif
#if !defined(MAG_ORIENTATION)
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = -Y; magADC[PITCH] = X; magADC[YAW] = Z;}
#endif
if you move them away from stock then you must change the code in sensors.pde starting at line ~848 from
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GYRO_Common();
GYRO_ORIENTATION( (rawADC[3]&0x01) ? gyroADC[ROLL]/5 : gyroADC[ROLL] , //the ratio 1/5 is not exactly the IDG600 or ISZ650 specification
(rawADC[4]&0x02)>>1 ? gyroADC[PITCH]/5 : gyroADC[PITCH] , //we detect here the slow of fast mode WMP gyros values (see wiibrew for more details)
(rawADC[3]&0x02)>>1 ? gyroADC[YAW]/5 : gyroADC[YAW] ); // this step must be done after zero compensation
return 1;to
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GYRO_Common();
gyroADC[ROLL] = (rawADC[3]&0x01) ? gyroADC[ROLL]/5 : gyroADC[ROLL];
gyroADC[PITCH] = (rawADC[4]&0x02)>>1 ? gyroADC[PITCH]/5 : gyroADC[PITCH];
gyroADC[YAW] = (rawADC[3]&0x02)>>1 ? gyroADC[YAW]/5 : gyroADC[YAW];
return 1;@Alex
I know Alex you replied in rcgroups but this needs to be fixed as most people won't see the bug unless they have changed their default sensor orientation and they are using a wm+.
I've stuck this here on the multiwii forum just to remind you (and me) and its much easier to find rather than looking through the HUGE rcgroup thread for nuggets of info.
j