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Code Issues Releases Activity

Fix the sign of the bias terms

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This commit is contained in:
James Cotton 2011-12-24 16:14:53 -06:00
parent 9bf06bbd3e
commit 902a2baef7
1 changed files with 6 additions and 6 deletions
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12
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
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@ -581,9 +581,9 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Y] = fabs(S[1]);
revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Z] = fabs(S[2]);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] = sign(S[0]) * b[0];
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] = sign(S[1]) * b[1];
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] = sign(S[2]) * b[2];
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] = -sign(S[0]) * b[0];
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] = -sign(S[1]) * b[1];
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] = -sign(S[2]) * b[2];
// Calibration mag
SixPointInConstFieldCal( 1000, mag_data_x, mag_data_y, mag_data_z, S, b);
@ -591,9 +591,9 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] = fabs(S[1]);
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] = fabs(S[2]);
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = sign(S[0]) * b[0];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = sign(S[1]) * b[1];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = sign(S[2]) * b[2];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2];
revoCalibration->setData(revoCalibrationData);