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Fixed axis assignment and raw value outputs. Scaling and offsets to be done

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Lorenz Meier
2012-08-26 13:51:18 +02:00
parent 60311a3778
commit 6026595d83
3 changed files with 44 additions and 26 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+15 -8
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@@ -790,22 +790,29 @@ MPU6000::measure()
*/
_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
_accel_report.x_raw = report.accel_x;
/* to align the sensor axes with the board, x and y need to be flipped */
_accel_report.x_raw = report.accel_y;
_accel_report.y_raw = report.accel_x;
_accel_report.z_raw = report.accel_x;
/* z remains z and has the right sign */
_accel_report.z_raw = report.accel_z;
_accel_report.x = report.accel_x * _accel_range_scale;
_accel_report.y = report.accel_y * _accel_range_scale;
/* to align the sensor axes with the board, x and y need to be flipped */
_accel_report.x = report.accel_y * _accel_range_scale;
_accel_report.y = report.accel_x * _accel_range_scale;
/* z remains z and has the right sign */
_accel_report.z = report.accel_z * _accel_range_scale;
_accel_report.scaling = _accel_range_scale;
_accel_report.range_m_s2 = _accel_range_m_s2;
_gyro_report.x_raw = report.gyro_x;
_gyro_report.y_raw = report.gyro_y;
/* to align the sensor axes with the board, x and y need to be flipped */
_gyro_report.x_raw = report.gyro_y;
_gyro_report.y_raw = report.gyro_x;
/* z remains z and has the right sign */
_gyro_report.z_raw = report.gyro_z;
_gyro_report.x = report.gyro_x * _gyro_range_scale;
_gyro_report.y = report.gyro_y * _gyro_range_scale;
_gyro_report.x = report.gyro_y * _gyro_range_scale;
_gyro_report.y = report.gyro_x * _gyro_range_scale;
/* z remains z and has the right sign */
_gyro_report.z = report.gyro_z * _gyro_range_scale;
_gyro_report.scaling = _gyro_range_scale;
_gyro_report.range_rad_s = _gyro_range_rad_s;