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Code Issues Releases Activity

CC-2 CC-3 Modules/CCAttitude: Flip the up-down convention of the board

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2563 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-24 07:51:29 +00:00 committed by peabody124
parent 607cdcac21
commit 80c97ddfd0
2 changed files with 4 additions and 3 deletions
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1
flight/CopterControl/Makefile
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@ -182,6 +182,7 @@ SRC += $(OPUAVOBJ)/ratedesired.c
SRC += $(OPUAVOBJ)/manualcontrolsettings.c
SRC += $(OPUAVOBJ)/mixersettings.c
SRC += $(OPUAVOBJ)/mixerstatus.c
SRC += $(OPUAVOBJ)/ahrssettings.c
#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
# Cant use until i can automatically generate list of UAVObjects

6
flight/Modules/CCAttitude/ccattitude.c
View File

@ -145,7 +145,7 @@ void updateSensors()
attitudeRaw.gyros[ATTITUDERAW_GYROS_Z] = PIOS_ADC_PinGet(2);
attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] = -(attitudeRaw.gyros[ATTITUDERAW_GYROS_X] - GYRO_NEUTRAL) * GYRO_SCALE;
attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = -(attitudeRaw.gyros[ATTITUDERAW_GYROS_Y] - GYRO_NEUTRAL) * GYRO_SCALE;
attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = (attitudeRaw.gyros[ATTITUDERAW_GYROS_Y] - GYRO_NEUTRAL) * GYRO_SCALE;
attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] = (attitudeRaw.gyros[ATTITUDERAW_GYROS_Z] - GYRO_NEUTRAL) * GYRO_SCALE;
attitudeRaw.gyrotemp[0] = PIOS_ADXL345_Read(&accel_data);
@ -156,8 +156,8 @@ void updateSensors()
attitudeRaw.accels[ATTITUDERAW_ACCELS_Z] = accel_data.z;
attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] = (float) accel_data.x * 0.004f * 9.81;
attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] = (float) accel_data.y * 0.004f * 9.81;
attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] = (float) accel_data.z * 0.004f * 9.81;
attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] = -(float) accel_data.y * 0.004f * 9.81;
attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] = -(float) accel_data.z * 0.004f * 9.81;
AttitudeRawSet(&attitudeRaw);
}