fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 07:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensor_combined: replace accel & gyro integral with value, use float for dt

Browse Source 
Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.

Note that this breaks the replay format for sdlog2 replay
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent 8e136779ec
commit 9c73eae941
19 changed files with 154 additions and 202 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/frsky_telemetry/frsky_data.c
+3 -8
View File
@@ -204,14 +204,9 @@ void frsky_update_topics()
void frsky_send_frame1(int uart)
{
/* send formatted frame */
float acceleration[3];
float accel_dt = sensor_combined->accelerometer_integral_dt / 1.e6f;
acceleration[0] = sensor_combined->accelerometer_integral_m_s[0] / accel_dt;
acceleration[1] = sensor_combined->accelerometer_integral_m_s[1] / accel_dt;
acceleration[2] = sensor_combined->accelerometer_integral_m_s[2] / accel_dt;
frsky_send_data(uart, FRSKY_ID_ACCEL_X, roundf(acceleration[0] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_ACCEL_Y, roundf(acceleration[1] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_ACCEL_Z, roundf(acceleration[2] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_ACCEL_X, roundf(sensor_combined->accelerometer_m_s2[0] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_ACCEL_Y, roundf(sensor_combined->accelerometer_m_s2[1] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_ACCEL_Z, roundf(sensor_combined->accelerometer_m_s2[2] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
sensor_combined->baro_alt_meter);