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Code Issues Releases Activity

Ground/AHRSCalibration: Account for conversion in AHRS

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1918 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-08 15:38:16 +00:00 committed by peabody124
parent a081fb7ec1
commit 9ec694cc40
1 changed files with 4 additions and 21 deletions
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25
ground/src/plugins/config/configahrswidget.cpp
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@ -515,10 +515,10 @@ void ConfigAHRSWidget::computeScaleBias()
SixPointInConstFieldCal( 9.81, accel_data_x, accel_data_y, accel_data_z, S, b); SixPointInConstFieldCal( 9.81, accel_data_x, accel_data_y, accel_data_z, S, b);
field = obj->getField(QString("gyro_bias")); field = obj->getField(QString("gyro_bias"));
field->setDouble(listMean(gyro_accum_x),0); field->setDouble(-listMean(gyro_accum_x) * M_PI / 180.0f,0);
field->setDouble(listMean(gyro_accum_y),1); field->setDouble(-listMean(gyro_accum_y) * M_PI / 180.0f,1);
field->setDouble(listMean(gyro_accum_z),2); field->setDouble(-listMean(gyro_accum_z) * M_PI / 180.0f,2);
qDebug() << listMean(gyro_accum_x) * M_PI / 180.0f << listMean(gyro_accum_y) * M_PI / 180.0f << listMean(gyro_accum_x) * M_PI / 180.0f;
field = obj->getField(QString("accel_scale")); field = obj->getField(QString("accel_scale"));
field->setDouble(sign(S[0]) * S[0],0); field->setDouble(sign(S[0]) * S[0],0);
field->setDouble(sign(S[1]) * S[1],1); field->setDouble(sign(S[1]) * S[1],1);
@ -540,23 +540,6 @@ void ConfigAHRSWidget::computeScaleBias()
field->setDouble(sign(S[1]) * b[1], 1); field->setDouble(sign(S[1]) * b[1], 1);
field->setDouble(sign(S[2]) * b[2], 2); field->setDouble(sign(S[2]) * b[2], 2);
// Go ahead and fix gyro scale here
field = obj->getField(QString("gyro_bias"));
double a = field->getDouble(0);
field->setDouble(-sign(a) * a, 0);
a = field->getDouble(1);
field->setDouble(sign(a) * a, 1);
a = field->getDouble(2);
field->setDouble(-sign(a) * a, 2);
field = obj->getField(QString("gyro_bias"));
a = listMean(gyro_accum_x);
field->setDouble(sign(a)*a,0);
a = listMean(gyro_accum_y);
field->setDouble(-sign(a)*a,1);
a = listMean(gyro_accum_z);
field->setDouble(sign(a)*a,2);
obj->updated(); obj->updated();
position = -1; //set to run again position = -1; //set to run again