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Fixed mag axis assignment, fixed mag calibration

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Lorenz Meier
2012-08-17 17:37:58 +02:00
parent 73286f3262
commit bce043a21b
4 changed files with 22 additions and 9 deletions
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apps/sensors/Makefile
+1 -1
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@@ -37,6 +37,6 @@
APPNAME = sensors
PRIORITY = SCHED_PRIORITY_MAX-5
STACKSIZE = 2048
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
apps/sensors/sensors.c
+4 -4
View File
@@ -803,7 +803,7 @@ int sensors_main(int argc, char *argv[])
/* assign negated value, except for -SHORT_MAX, as it would wrap there */
raw.accelerometer_raw[0] = (buf_accelerometer[1] == -32768) ? 32767 : -buf_accelerometer[1]; // x of the board is -y of the sensor
raw.accelerometer_raw[1] = (buf_accelerometer[0] == -32768) ? -32767 : buf_accelerometer[0]; // y on the board is x of the sensor
raw.accelerometer_raw[2] = (buf_accelerometer[2] == -32768) ? -32767 : buf_accelerometer[2]; // z of the board is z of the sensor
raw.accelerometer_raw[2] = (buf_accelerometer[2] == -32768) ? -32768 : buf_accelerometer[2]; // z of the board is z of the sensor
// XXX read range from sensor
float range_g = 4.0f;
@@ -820,9 +820,9 @@ int sensors_main(int argc, char *argv[])
/* copy sensor readings to global data and transform coordinates into px4fmu board frame */
/* assign negated value, except for -SHORT_MAX, as it would wrap there */
raw.magnetometer_raw[0] = (buf_magnetometer[1] == -32768) ? 32767 : -buf_magnetometer[1]; // x of the board is -y of the sensor
raw.magnetometer_raw[1] = (buf_magnetometer[0] == -32768) ? -32767 : buf_magnetometer[0]; // y on the board is x of the sensor
raw.magnetometer_raw[2] = (buf_magnetometer[2] == -32768) ? -32767 : buf_magnetometer[2]; // z of the board is z of the sensor
raw.magnetometer_raw[0] = (buf_magnetometer[1] == -32768) ? 32767 : buf_magnetometer[1]; // x of the board is -y of the sensor
raw.magnetometer_raw[1] = (buf_magnetometer[0] == -32768) ? 32767 : -buf_magnetometer[0]; // y on the board is x of the sensor
raw.magnetometer_raw[2] = (buf_magnetometer[2] == -32768) ? -32768 : buf_magnetometer[2]; // z of the board is z of the sensor
// XXX Read out mag range via I2C on init, assuming 0.88 Ga and 12 bit res here
raw.magnetometer_ga[0] = ((raw.magnetometer_raw[0] - mag_offset[0]) / 4096.0f) * 0.88f;