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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-17 17:37:58 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-17 17:37:58 +0200 |
| commit | bce043a21b7f39f786755fa3118c2c5e25eb8a94 (patch) | |
| tree | 4a3df548c5e70c33d03d1ad9a813c99ca2958a27 /apps/sensors | |
| parent | 73286f3262b624ab62ce3f2d55e3521c1cb5f135 (diff) | |
| download | px4-firmware-bce043a21b7f39f786755fa3118c2c5e25eb8a94.tar.gz px4-firmware-bce043a21b7f39f786755fa3118c2c5e25eb8a94.tar.bz2 px4-firmware-bce043a21b7f39f786755fa3118c2c5e25eb8a94.zip | |
Fixed mag axis assignment, fixed mag calibration
Diffstat (limited to 'apps/sensors')
| -rw-r--r-- | apps/sensors/Makefile | 2 | ||||
| -rw-r--r-- | apps/sensors/sensors.c | 8 |
2 files changed, 5 insertions, 5 deletions
diff --git a/apps/sensors/Makefile b/apps/sensors/Makefile index dadc2993d..125839bb3 100644 --- a/apps/sensors/Makefile +++ b/apps/sensors/Makefile @@ -37,6 +37,6 @@ APPNAME = sensors PRIORITY = SCHED_PRIORITY_MAX-5 -STACKSIZE = 2048 +STACKSIZE = 4096 include $(APPDIR)/mk/app.mk diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index 5e93f180f..7933e8518 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -803,7 +803,7 @@ 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[2] = (buf_accelerometer[2] == -32768) ? -32767 : buf_accelerometer[2]; // z of the board is z 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 float range_g = 4.0f; @@ -820,9 +820,9 @@ 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[2] = (buf_magnetometer[2] == -32768) ? -32767 : buf_magnetometer[2]; // z of the board is z 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 raw.magnetometer_ga[0] = ((raw.magnetometer_raw[0] - mag_offset[0]) / 4096.0f) * 0.88f; |