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Code Issues Releases Activity

Hack in attitude to read directly from gyros instead of fifo. All sensors

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This commit is contained in:
James Cotton 2011-11-14 11:12:10 -06:00
parent 1086df5b21
commit 59507249e1
1 changed files with 7 additions and 2 deletions
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9
flight/Modules/Attitude/revolution/attitude.c
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@ -271,8 +271,13 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
read_good = PIOS_MPU6050_ReadFifo(&gyro); read_good = PIOS_MPU6050_ReadFifo(&gyro);
} }
gyro_samples = count; gyro_samples = count;
*/
PIOS_MPU6050_ReadGyros(&gyro);
gyro_accum[0] = gyro.gyro_x;
gyro_accum[1] = gyro.gyro_y;
gyro_accum[2] = gyro.gyro_z;
gyro_samples = 1;
scaling = PIOS_MPU6050_GetScale() / gyro_samples; scaling = PIOS_MPU6050_GetScale() / gyro_samples;
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -((float) gyro_accum[1]) * scaling; attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -((float) gyro_accum[1]) * scaling;
@ -281,7 +286,7 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
// From data sheet 35 deg C corresponds to -13200, and 280 LSB per C // From data sheet 35 deg C corresponds to -13200, and 280 LSB per C
attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_GYRO] = gyro.temperature = 35.0f + ((float) gyro.temperature + 13200) / 280; attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_GYRO] = gyro.temperature = 35.0f + ((float) gyro.temperature + 13200) / 280;
*/
// From the data sheet 25 deg C corresponds to 2 and 2 LSB per C // From the data sheet 25 deg C corresponds to 2 and 2 LSB per C
attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_ACCEL] = 25.0f + ((float) accel.temperature - 2) / 2; attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_ACCEL] = 25.0f + ((float) accel.temperature - 2) / 2;