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Code Issues Releases Activity

Revert "Get mag before gyros so that when gyro chip is acting up we still see mag data."

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This reverts commit d2a3e39bbf.
This commit is contained in:
James Cotton 2012-06-12 13:10:24 -05:00
parent bfdda0e645
commit 9c1fa2dfc6
1 changed files with 27 additions and 24 deletions
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51
flight/Modules/Sensors/sensors.c
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@ -241,30 +241,6 @@ static void SensorsTask(void *parameters)
accel_samples = 0; accel_samples = 0;
gyro_samples = 0; gyro_samples = 0;
#if defined(PIOS_INCLUDE_HMC5883)
MagnetometerData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = {(float) values[1] * mag_scale[0] - mag_bias[0],
(float) values[0] * mag_scale[1] - mag_bias[1],
-(float) values[2] * mag_scale[2] - mag_bias[2]};
if (rotate) {
float mag_out[3];
rot_mult(R, mags, mag_out);
mag.x = mag_out[0];
mag.y = mag_out[1];
mag.z = mag_out[2];
} else {
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
}
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
AccelsData accelsData; AccelsData accelsData;
GyrosData gyrosData; GyrosData gyrosData;
@ -408,6 +384,33 @@ static void SensorsTask(void *parameters)
gyrosData.z += gyrosBias.z; gyrosData.z += gyrosBias.z;
} }
GyrosSet(&gyrosData); GyrosSet(&gyrosData);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
#if defined(PIOS_INCLUDE_HMC5883)
MagnetometerData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = {(float) values[1] * mag_scale[0] - mag_bias[0],
(float) values[0] * mag_scale[1] - mag_bias[1],
-(float) values[2] * mag_scale[2] - mag_bias[2]};
if (rotate) {
float mag_out[3];
rot_mult(R, mags, mag_out);
mag.x = mag_out[0];
mag.y = mag_out[1];
mag.z = mag_out[2];
} else {
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
}
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS); PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);