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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-26 13:51:18 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-26 13:51:18 +0200 |
| commit | 6026595d83b5ce5048ad77b7e0aa78ecd83e46af (patch) | |
| tree | 8f1255d8d296fbef67ee993d914364b963f4ad73 /apps/drivers/hmc5883/hmc5883.cpp | |
| parent | 60311a37786a8731b10dba4d4f5ab3a56108788d (diff) | |
| download | px4-firmware-6026595d83b5ce5048ad77b7e0aa78ecd83e46af.tar.gz px4-firmware-6026595d83b5ce5048ad77b7e0aa78ecd83e46af.tar.bz2 px4-firmware-6026595d83b5ce5048ad77b7e0aa78ecd83e46af.zip | |
Fixed axis assignment and raw value outputs. Scaling and offsets to be done
Diffstat (limited to 'apps/drivers/hmc5883/hmc5883.cpp')
| -rw-r--r-- | apps/drivers/hmc5883/hmc5883.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp index d1025bcc6..cd198b6e6 100644 --- a/apps/drivers/hmc5883/hmc5883.cpp +++ b/apps/drivers/hmc5883/hmc5883.cpp @@ -658,9 +658,18 @@ HMC5883::collect() (abs(report.z) > 2048)) goto out; + /* raw outputs */ + /* to align the sensor axes with the board, x and y need to be flipped */ + _reports[_next_report].x_raw = report.y; + _reports[_next_report].y_raw = report.x; + /* z remains z */ + _reports[_next_report].z_raw = report.z; + /* scale values for output */ - _reports[_next_report].x = report.x * _scale.x_scale + _scale.x_offset; - _reports[_next_report].y = report.y * _scale.y_scale + _scale.y_offset; + /* to align the sensor axes with the board, x and y need to be flipped */ + _reports[_next_report].x = report.y * _scale.x_scale + _scale.x_offset; + _reports[_next_report].y = report.x * _scale.y_scale + _scale.y_offset; + /* z remains z */ _reports[_next_report].z = report.z * _scale.z_scale + _scale.z_offset; /* publish it */ |