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Code Issues Releases Activity

OP-1793 - Apply accel bias before scaling

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This commit is contained in:
Alessio Morale 2015-03-18 04:43:30 +01:00
parent be9f4aec6a
commit a6b43ecef0
1 changed files with 7 additions and 4 deletions
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11
flight/modules/Sensors/sensors.c
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@ -411,9 +411,9 @@ static void handleAccel(float *samples, float temperature)
AccelSensorData accelSensorData;
updateAccelTempBias(temperature);
float accels_out[3] = { samples[0] * agcal.accel_scale.X - agcal.accel_bias.X - accel_temp_bias[0],
samples[1] * agcal.accel_scale.Y - agcal.accel_bias.Y - accel_temp_bias[1],
samples[2] * agcal.accel_scale.Z - agcal.accel_bias.Z - accel_temp_bias[2] };
float accels_out[3] = { (samples[0] - agcal.accel_bias.X) * agcal.accel_scale.X - accel_temp_bias[0],
(samples[1] - agcal.accel_bias.Y) * agcal.accel_scale.Y - accel_temp_bias[1],
(samples[2] - agcal.accel_bias.Z) * agcal.accel_scale.Z - accel_temp_bias[2] };
rot_mult(R, accels_out, samples);
accelSensorData.x = samples[0];
@ -485,7 +485,10 @@ static void updateAccelTempBias(float temperature)
if ((accel_temp_calibrated) && !accel_temp_calibration_count) {
accel_temp_calibration_count = TEMP_CALIB_INTERVAL;
if (accel_temp_calibrated) {
float ctemp = boundf(accel_temperature, agcal.temp_calibrated_extent.max, agcal.temp_calibrated_extent.min);
float ctemp = boundf(accel_temperature,
agcal.temp_calibrated_extent.max,
agcal.temp_calibrated_extent.min);
accel_temp_bias[0] = agcal.accel_temp_coeff.X * ctemp;
accel_temp_bias[1] = agcal.accel_temp_coeff.Y * ctemp;
accel_temp_bias[2] = agcal.accel_temp_coeff.Z * ctemp;