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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-17 18:38:52 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-17 18:38:52 +0200 |
| commit | 8a8b6b716530172d11e0a1b4039418e0caf11593 (patch) | |
| tree | 8c0637a237999ab1a6e78dc3559cba20403df48d /apps/sensors | |
| parent | bce043a21b7f39f786755fa3118c2c5e25eb8a94 (diff) | |
| download | px4-firmware-8a8b6b716530172d11e0a1b4039418e0caf11593.tar.gz px4-firmware-8a8b6b716530172d11e0a1b4039418e0caf11593.tar.bz2 px4-firmware-8a8b6b716530172d11e0a1b4039418e0caf11593.zip | |
Fixed PI wrapping code, debugging more sensor code, possible misalignment of mag and acc frames in filter
Diffstat (limited to 'apps/sensors')
| -rw-r--r-- | apps/sensors/sensors.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index 7933e8518..aa006f3a6 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -315,7 +315,7 @@ int sensors_main(int argc, char *argv[]) float buf_barometer[3]; int16_t mag_offset[3] = {0, 0, 0}; - int16_t acc_offset[3] = {0, 0, 0}; + int16_t acc_offset[3] = {200, 0, 0}; int16_t gyro_offset[3] = {0, 0, 0}; bool mag_calibration_enabled = false; @@ -781,10 +781,10 @@ int sensors_main(int argc, char *argv[]) if (gyro_updated) { /* copy sensor readings to global data and transform coordinates into px4fmu board frame */ - raw.gyro_raw[0] = ((buf_gyro[1] == -32768) ? -32767 : buf_gyro[1]); // x of the board is y of the sensor + raw.gyro_raw[0] = ((buf_gyro[1] == -32768) ? -32768 : buf_gyro[1]); // x of the board is y of the sensor /* assign negated value, except for -SHORT_MAX, as it would wrap there */ raw.gyro_raw[1] = ((buf_gyro[0] == -32768) ? 32767 : -buf_gyro[0]); // y on the board is -x of the sensor - raw.gyro_raw[2] = ((buf_gyro[2] == -32768) ? -32767 : buf_gyro[2]); // z of the board is -z of the sensor + raw.gyro_raw[2] = ((buf_gyro[2] == -32768) ? -32768 : buf_gyro[2]); // z of the board is z of the sensor /* scale measurements */ // XXX request scaling from driver instead of hardcoding it @@ -802,7 +802,7 @@ int sensors_main(int argc, char *argv[]) /* assign negated value, except for -SHORT_MAX, as it would wrap there */ raw.accelerometer_raw[0] = (buf_accelerometer[1] == -32768) ? 32767 : -buf_accelerometer[1]; // x of the board is -y of the sensor - raw.accelerometer_raw[1] = (buf_accelerometer[0] == -32768) ? -32767 : buf_accelerometer[0]; // y on the board is x of the sensor + raw.accelerometer_raw[1] = (buf_accelerometer[0] == -32768) ? -32768 : buf_accelerometer[0]; // y on the board is x of the sensor raw.accelerometer_raw[2] = (buf_accelerometer[2] == -32768) ? -32768 : buf_accelerometer[2]; // z of the board is z of the sensor // XXX read range from sensor @@ -820,8 +820,8 @@ int sensors_main(int argc, char *argv[]) /* copy sensor readings to global data and transform coordinates into px4fmu board frame */ /* assign negated value, except for -SHORT_MAX, as it would wrap there */ - raw.magnetometer_raw[0] = (buf_magnetometer[1] == -32768) ? 32767 : buf_magnetometer[1]; // x of the board is -y of the sensor - raw.magnetometer_raw[1] = (buf_magnetometer[0] == -32768) ? 32767 : -buf_magnetometer[0]; // y on the board is x of the sensor + raw.magnetometer_raw[0] = (buf_magnetometer[1] == -32768) ? 32767 : buf_magnetometer[1]; // x of the board is y of the sensor + raw.magnetometer_raw[1] = (buf_magnetometer[0] == -32768) ? 32767 : -buf_magnetometer[0]; // y on the board is -x of the sensor raw.magnetometer_raw[2] = (buf_magnetometer[2] == -32768) ? -32768 : buf_magnetometer[2]; // z of the board is z of the sensor // XXX Read out mag range via I2C on init, assuming 0.88 Ga and 12 bit res here |