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Code Issues Releases Activity

In cc3d update sensors add accelbias before scaling to allow more precision in

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levelinIn cc3d update sensors add accelbias before scaling to allow more
precision in levelingg
This commit is contained in:
James Cotton 2012-02-04 12:12:41 -06:00
parent 60a2af2e58
commit 665801662d
1 changed files with 3 additions and 3 deletions
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6
flight/Modules/Attitude/attitude.c
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@ -459,9 +459,9 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
float accels[3] = {(float) -accel_accum[1] / accel_samples, (float) -accel_accum[0] / accel_samples, -(float) accel_accum[2] / accel_samples};
accelsData->x = accels[0] * accel_scaling - accelbias[0];
accelsData->y = accels[1] * accel_scaling - accelbias[1];
accelsData->z = accels[2] * accel_scaling - accelbias[2];
accelsData->x = (accels[0] - accelbias[0]) * accel_scaling;
accelsData->y = (accels[1] - accelbias[1]) * accel_scaling;
accelsData->z = (accels[2] - accelbias[2]) * accel_scaling;
lastSysTime = xTaskGetTickCount();