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Proper mag rotation handling

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Lorenz Meier
2015-02-15 19:52:01 +01:00
parent e582da9ee7
commit 3d195bc7cc
2 changed files with 53 additions and 38 deletions
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src/modules/sensors/sensor_params.c
+21
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@@ -119,6 +119,13 @@ PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
*/
PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0);
/**
* Magnetometer X-axis offset
*
@@ -284,6 +291,13 @@ PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
*/
PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0);
/**
* Magnetometer X-axis offset
*
@@ -449,6 +463,13 @@ PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
*/
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0);
/**
* Magnetometer X-axis offset
*