From c5863320fedcc560850a34d069dd1abc782203ec Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Mon, 27 Sep 2010 07:48:28 +0000
Subject: [PATCH] Ground/AHRS Config: Made gyro bias computation happen on GCS
 during 6pt calibration

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1781 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../src/plugins/config/configahrswidget.cpp   | 26 ++++++++++++++-----
 1 file changed, 20 insertions(+), 6 deletions(-)

diff --git a/ground/src/plugins/config/configahrswidget.cpp b/ground/src/plugins/config/configahrswidget.cpp
index b266cd46d..3404dc775 100644
--- a/ground/src/plugins/config/configahrswidget.cpp
+++ b/ground/src/plugins/config/configahrswidget.cpp
@@ -404,9 +404,6 @@ void ConfigAHRSWidget::savePositionData()
     mag_accum_x.clear();
     mag_accum_y.clear();
     mag_accum_z.clear();
-    gyro_accum_x.clear();
-    gyro_accum_y.clear();
-    gyro_accum_z.clear();
 
     collectingData = true;
     UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
@@ -526,10 +523,16 @@ void ConfigAHRSWidget::computeScaleBias()
 
     SixPointInConstFieldCal( 9.81, accel_data_x, accel_data_y, accel_data_z, S, b);
 
+    field = obj->getField(QString("gyro_bias"));
+    field->setDouble(listMean(gyro_accum_x),0);
+    field->setDouble(listMean(gyro_accum_y),1);
+    field->setDouble(listMean(gyro_accum_z),2);
+
     field = obj->getField(QString("accel_scale"));
     field->setDouble(S[0],0);
     field->setDouble(S[1],1);
     field->setDouble(S[2],2);
+
     field = obj->getField(QString("accel_bias"));
     field->setDouble(b[0],0);
     field->setDouble(b[1],1);
@@ -540,15 +543,16 @@ void ConfigAHRSWidget::computeScaleBias()
     field->setDouble(S[0],0);
     field->setDouble(S[1],1);
     field->setDouble(S[2],2);
+
     field = obj->getField(QString("mag_bias"));
     field->setDouble(b[0], 0);
     field->setDouble(b[1], 1);
     field->setDouble(b[2], 2);
 
     field = obj->getField(QString("gyro_bias"));
-    field->setDouble(listMean(gyro_accum_x),0);
-    field->setDouble(listMean(gyro_accum_y),1);
-    field->setDouble(listMean(gyro_accum_z),2);
+    field->setDouble(-listMean(gyro_accum_x),0);
+    field->setDouble(-listMean(gyro_accum_y),1);
+    field->setDouble(-listMean(gyro_accum_z),2);
 
     obj->updated();
 
@@ -569,12 +573,22 @@ void ConfigAHRSWidget::sixPointCalibrationMode()
     field->setDouble(1,0);
     field->setDouble(1,1);
     field->setDouble(1,2);
+
     field = obj->getField(QString("accel_bias"));
     field->setDouble(0,0);
     field->setDouble(0,1);
     field->setDouble(0,2);
+
+    field = obj->getField(QString("gyro_bias"));
+    field->setDouble(0,0);
+    field->setDouble(0,1);
+    field->setDouble(0,2);
     obj->updated();
 
+    gyro_accum_x.clear();
+    gyro_accum_y.clear();
+    gyro_accum_z.clear();
+
     /* Make sure we get AttitudeRaw updates, and skip AttitudeActual (for speed) */
     obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
     field = obj->getField(QString("UpdateRaw"));