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Code Issues Releases Activity

Corrected mpu9250 magnetometer axis orientation.

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Werner Backes 2015-04-21 22:06:20 +02:00 committed by Alessio Morale
parent 8cb9f8b802
commit 25b5278b05
1 changed files with 8 additions and 8 deletions
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16
flight/pios/common/pios_mpu9250.c
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@ -860,8 +860,8 @@ static bool PIOS_MPU9250_HandleData()
queue_data->sample[1].x = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y queue_data->sample[1].x = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
#ifdef PIOS_MPU9250_MAG #ifdef PIOS_MPU9250_MAG
if (mag_valid) { if (mag_valid) {
mag_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Mag_Y) * dev->mag_sens_adj[1]; // chip Y mag_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Mag_Y) * dev->mag_sens_adj[1]; // chip Y
mag_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Mag_X) * dev->mag_sens_adj[0]; // chip X mag_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Mag_X) * dev->mag_sens_adj[0]; // chip X
} }
#endif #endif
break; break;
@ -875,8 +875,8 @@ static bool PIOS_MPU9250_HandleData()
queue_data->sample[1].x = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X queue_data->sample[1].x = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
#ifdef PIOS_MPU9250_MAG #ifdef PIOS_MPU9250_MAG
if (mag_valid) { if (mag_valid) {
mag_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Mag_X) * dev->mag_sens_adj[0]; // chip X mag_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Mag_X) * dev->mag_sens_adj[0]; // chip X
mag_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)) * dev->mag_sens_adj[1]; // chip Y mag_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)) * dev->mag_sens_adj[1]; // chip Y
} }
#endif #endif
@ -890,8 +890,8 @@ static bool PIOS_MPU9250_HandleData()
queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
#ifdef PIOS_MPU9250_MAG #ifdef PIOS_MPU9250_MAG
if (mag_valid) { if (mag_valid) {
mag_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)) * dev->mag_sens_adj[1]; // chip Y mag_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)) * dev->mag_sens_adj[1]; // chip Y
mag_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)) * dev->mag_sens_adj[0]; // chip X mag_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)) * dev->mag_sens_adj[0]; // chip X
} }
#endif #endif
break; break;
@ -904,8 +904,8 @@ static bool PIOS_MPU9250_HandleData()
queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
#ifdef PIOS_MPU9250_MAG #ifdef PIOS_MPU9250_MAG
if (mag_valid) { if (mag_valid) {
mag_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)) * dev->mag_sens_adj[0]; // chip X mag_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)) * dev->mag_sens_adj[0]; // chip X
mag_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Mag_Y) * dev->mag_sens_adj[1]; // chip Y mag_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Mag_Y) * dev->mag_sens_adj[1]; // chip Y
} }
#endif #endif
break; break;