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Code Issues Releases Activity

TOFIX: For now hardcode a reversed orientation of MPU6000 for RevoMini

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This commit is contained in:
James Cotton 2012-08-25 14:41:03 -05:00
parent c3906cfe90
commit c5fda8208b
1 changed files with 4 additions and 4 deletions
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8
flight/Modules/Sensors/sensors.c
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@ -302,12 +302,12 @@ static void SensorsTask(void *parameters)
while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
{
gyro_accum[0] += mpu6000_data.gyro_x;
gyro_accum[1] += mpu6000_data.gyro_y;
gyro_accum[0] += -mpu6000_data.gyro_x;
gyro_accum[1] += -mpu6000_data.gyro_y;
gyro_accum[2] += mpu6000_data.gyro_z;
accel_accum[0] += mpu6000_data.accel_x;
accel_accum[1] += mpu6000_data.accel_y;
accel_accum[0] += -mpu6000_data.accel_x;
accel_accum[1] += -mpu6000_data.accel_y;
accel_accum[2] += mpu6000_data.accel_z;
gyro_samples ++;