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Code Issues Releases Activity

OP-1149: fix type for accel bias.

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This commit is contained in:
Alessio Morale 2014-02-03 20:30:10 +01:00
parent ef066a63b1
commit eea194d22f
1 changed files with 13 additions and 13 deletions
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26
flight/modules/Attitude/attitude.c
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@ -96,7 +96,7 @@ static float accels_filtered[3];
static float grot_filtered[3];
static float yawBiasRate = 0;
static float rollPitchBiasRate = 0.0f;
static int16_t accelbias[3];
static float accel_bias[3];
static float q[4] = { 1, 0, 0, 0 };
static float R[3][3];
static int8_t rotate = 0;
@ -372,9 +372,9 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
}
// Scale accels and correct bias
accelState->x -= accelbias[0];
accelState->y -= accelbias[1];
accelState->z -= accelbias[2];
accelState->x -= accel_bias[0];
accelState->y -= accel_bias[1];
accelState->z -= accel_bias[2];
if (bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
@ -454,9 +454,9 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
gyros[2] = vec_out[2];
}
accelStateData->x = accels[0] - accelbias[0];
accelStateData->y = accels[1] - accelbias[1];
accelStateData->z = accels[2] - accelbias[2];
accelStateData->x = accels[0] - accel_bias[0];
accelStateData->y = accels[1] - accel_bias[1];
accelStateData->z = accels[2] - accel_bias[2];
gyrosData->x = gyros[0];
gyrosData->y = gyros[1];
@ -658,9 +658,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
if (BOARDISCC3D) {
accelbias[0] = accelGyroSettings.accel_bias.X;
accelbias[1] = accelGyroSettings.accel_bias.Y;
accelbias[2] = accelGyroSettings.accel_bias.Z;
accel_bias[0] = accelGyroSettings.accel_bias.X;
accel_bias[1] = accelGyroSettings.accel_bias.Y;
accel_bias[2] = accelGyroSettings.accel_bias.Z;
gyro_scale[0] = accelGyroSettings.gyro_scale.X * PIOS_MPU6000_GetScale();
gyro_scale[1] = accelGyroSettings.gyro_scale.Y * PIOS_MPU6000_GetScale();
@ -671,9 +671,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
accel_scale[2] = accelGyroSettings.accel_scale.Z * PIOS_MPU6000_GetAccelScale();
} else {
// Original CC with analog gyros and ADXL accel
accelbias[0] = accelGyroSettings.accel_bias.X;
accelbias[1] = accelGyroSettings.accel_bias.Y;
accelbias[2] = accelGyroSettings.accel_bias.Z;
accel_bias[0] = accelGyroSettings.accel_bias.X;
accel_bias[1] = accelGyroSettings.accel_bias.Y;
accel_bias[2] = accelGyroSettings.accel_bias.Z;
gyro_scale[0] = accelGyroSettings.gyro_scale.X * STD_CC_ANALOG_GYRO_GAIN;
gyro_scale[1] = accelGyroSettings.gyro_scale.Y * STD_CC_ANALOG_GYRO_GAIN;