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Code Issues Releases Activity

INS Settings: Use the calibration data on the sensors

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This commit is contained in:
James Cotton 2011-09-02 13:28:01 -05:00
parent d47778cf13
commit e0ed82eef0
1 changed files with 7 additions and 9 deletions
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14
flight/INS/ins.c
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@ -387,14 +387,14 @@ void get_accel_gyro_data()
// Not the swaping of channel orders
scaling = PIOS_BMA180_GetScale() / accel_samples;
accel_data.filtered.x = accel_accum[0] * scaling;
accel_data.filtered.y = -accel_accum[1] * scaling;
accel_data.filtered.z = -accel_accum[2] * scaling;
accel_data.filtered.x = accel_accum[0] * scaling * accel_data.calibration.scale[0] + accel_data.calibration.bias[0];
accel_data.filtered.y = -accel_accum[1] * scaling * accel_data.calibration.scale[1] + accel_data.calibration.bias[1];
accel_data.filtered.z = -accel_accum[2] * scaling * accel_data.calibration.scale[2] + accel_data.calibration.bias[2];
scaling = PIOS_IMU3000_GetScale() / gyro_samples;
gyro_data.filtered.x = -((float) gyro_accum[1]) * scaling;
gyro_data.filtered.y = -((float) gyro_accum[0]) * scaling;
gyro_data.filtered.z = -((float) gyro_accum[2]) * scaling;
gyro_data.filtered.x = -((float) gyro_accum[1]) * scaling * gyro_data.calibration.scale[0] + gyro_data.calibration.bias[0];
gyro_data.filtered.y = -((float) gyro_accum[0]) * scaling * gyro_data.calibration.scale[1] + gyro_data.calibration.bias[1];
gyro_data.filtered.z = -((float) gyro_accum[2]) * scaling * gyro_data.calibration.scale[2] + gyro_data.calibration.bias[2];
raw.accels[0] = accel_data.filtered.x;
raw.accels[1] = accel_data.filtered.y;
@ -403,8 +403,6 @@ void get_accel_gyro_data()
raw.gyros[1] = gyro_data.filtered.y * RAD_TO_DEG;
raw.gyros[2] = gyro_data.filtered.z * RAD_TO_DEG;
InsSettingsData settings;
InsSettingsGet(&settings);
if (bias_corrected_raw)
{
raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG;