From 6026595d83b5ce5048ad77b7e0aa78ecd83e46af Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 26 Aug 2012 13:51:18 +0200 Subject: Fixed axis assignment and raw value outputs. Scaling and offsets to be done --- apps/sensors/sensors.cpp | 36 +++++++++++++++++++----------------- 1 file changed, 19 insertions(+), 17 deletions(-) (limited to 'apps/sensors') diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 56a9d8995..f75834ddf 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -2,8 +2,6 @@ * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -604,14 +602,16 @@ Sensors::accel_poll(struct sensor_combined_s &raw) read(_fd_bma180, buf, sizeof(buf)); accel_report.timestamp = hrt_absolute_time(); - accel_report.x_raw = buf[0]; - accel_report.y_raw = buf[1]; - accel_report.z_raw = buf[2]; - /* XXX scale raw values to readings */ - accel_report.x = 0; - accel_report.y = 0; - accel_report.z = 0; + accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1]; + accel_report.y_raw = (buf[0] == -32768) ? -32767 : buf[0]; + accel_report.z_raw = (buf[2] == -32768) ? -32767 : buf[2]; + + const float range_g = 4.0f; + /* scale from 14 bit to m/s2 */ + accel_report.x = (((accel_report.x_raw - _parameters.acc_offset[0]) * range_g) / 8192.0f) / 9.81f; + accel_report.y = (((accel_report.y_raw - _parameters.acc_offset[0]) * range_g) / 8192.0f) / 9.81f; + accel_report.z = (((accel_report.z_raw - _parameters.acc_offset[0]) * range_g) / 8192.0f) / 9.81f; } else { orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); @@ -640,14 +640,16 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) read(_fd_gyro_l3gd20, buf, sizeof(buf)); gyro_report.timestamp = hrt_absolute_time(); - gyro_report.x_raw = buf[0]; - gyro_report.y_raw = buf[1]; - gyro_report.z_raw = buf[2]; - - /* XXX scale raw values to readings */ - gyro_report.x = 0; - gyro_report.y = 0; - gyro_report.z = 0; + + gyro_report.x_raw = ((buf[1] == -32768) ? -32768 : buf[1]); + gyro_report.y_raw = ((buf[0] == -32768) ? 32767 : -buf[0]); + gyro_report.z_raw = ((buf[2] == -32768) ? -32768 : buf[2]); + + /* scaling calculated as: raw * (1/(32768*(500/180*PI))) */ + gyro_report.x = (gyro_report.x_raw - _parameters.gyro_offset[0]) * 0.000266316109f; + gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f; + gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f; + } else { orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); -- cgit v1.2.3