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Fixed calibration routines to ignore previous offsets during calibration, added scale compensation for MPU-6000

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Lorenz Meier
2012-09-11 23:35:01 +02:00
parent 31d028828c
commit a74a455ab5
3 changed files with 155 additions and 38 deletions
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apps/sensors/sensor_params.c
+13 -9
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@@ -44,17 +44,21 @@
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(SENSOR_GYRO_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_GYRO_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_MAG_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_MAG_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_ACC_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 0.0f);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);