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Code Issues Releases Activity

AeroSimRC: fix CC3D virtual sensor readings in simulation mode

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This commit is contained in:
Oleg Semyonov 2012-07-22 14:18:49 +03:00
parent a559286d0b
commit f3f34e8f9f
1 changed files with 4 additions and 0 deletions
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4
flight/Modules/Attitude/attitude.c
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@ -375,6 +375,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
if(xQueueReceive(queue, (void *) &mpu6000_data, SENSOR_PERIOD) == errQUEUE_EMPTY) if(xQueueReceive(queue, (void *) &mpu6000_data, SENSOR_PERIOD) == errQUEUE_EMPTY)
return -1; // Error, no data return -1; // Error, no data
// Do not read raw sensor data in simulation mode
if (GyrosReadOnly() || AccelsReadOnly())
return 0;
gyros[0] = -mpu6000_data.gyro_y * PIOS_MPU6000_GetScale(); gyros[0] = -mpu6000_data.gyro_y * PIOS_MPU6000_GetScale();
gyros[1] = -mpu6000_data.gyro_x * PIOS_MPU6000_GetScale(); gyros[1] = -mpu6000_data.gyro_x * PIOS_MPU6000_GetScale();
gyros[2] = -mpu6000_data.gyro_z * PIOS_MPU6000_GetScale(); gyros[2] = -mpu6000_data.gyro_z * PIOS_MPU6000_GetScale();