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Code Issues Releases Activity

Fix the bias calculation for revo accels

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This commit is contained in:
James Cotton 2012-06-13 21:15:46 -05:00
parent 293a2ee573
commit ce487c9b0a
1 changed files with 3 additions and 4 deletions
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7
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
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@ -311,9 +311,9 @@ void ConfigRevoWidget::doGetAccelBiasData(UAVObject *obj)
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] -= listMean(accel_accum_x);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] -= listMean(accel_accum_y);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] -= GRAVITY + listMean(accel_accum_z);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] += listMean(accel_accum_x);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] += listMean(accel_accum_y);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] += ( listMean(accel_accum_z) + GRAVITY );
revoCalibration->setData(revoCalibrationData);
revoCalibration->updated();
@ -685,7 +685,6 @@ void ConfigRevoWidget::doStartSixPointCalibration()
m_ui->sixPointsStart->setEnabled(false);
m_ui->sixPointsSave->setEnabled(true);
position = 0;
qDebug() << "Starting";
}