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df_mpu9250_wrapper: add rotation to internal mag

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Julian Oes 2016-05-31 17:31:24 +01:00 committed by Lorenz Meier
parent a7ae7907f7
commit 969940e98a
1 changed files with 10 additions and 3 deletions
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13
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
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@ -687,9 +687,16 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
accel_report.z = accel_val_filt(2);
if (_mag_enabled) {
mag_report.x = (data.mag_ga_x - _mag_calibration.x_offset) * _mag_calibration.x_scale;
mag_report.y = (data.mag_ga_y - _mag_calibration.y_offset) * _mag_calibration.y_scale;
mag_report.z = (data.mag_ga_z - _mag_calibration.z_offset) * _mag_calibration.z_scale;
math::Vector<3> mag_val((data.mag_ga_x - _mag_calibration.x_offset) * _mag_calibration.x_scale,
(data.mag_ga_y - _mag_calibration.y_offset) * _mag_calibration.y_scale,
(data.mag_ga_z - _mag_calibration.z_offset) * _mag_calibration.z_scale);
mag_val = _rotation_matrix * mag_val;
mag_report.x = mag_val(0);
mag_report.y = mag_val(1);
mag_report.z = mag_val(2);
}
gyro_report.x_integral = gyro_val_integ(0);