From ce487c9b0af221ceb9bd17cff2ea27f7c8127121 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Wed, 13 Jun 2012 21:15:46 -0500 Subject: [PATCH] Fix the bias calculation for revo accels --- .../openpilotgcs/src/plugins/config/configrevowidget.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index f8703e93d..5864aa8ea 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -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"; }