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Code Issues Releases Activity

REVONANO mpu9250 driver fix for Mag orientation

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This commit is contained in:
Laurent Lalanne 2014-12-20 20:23:23 +01:00 committed by Alessio Morale
parent 3651ac61a3
commit f82a584eb2
1 changed files with 16 additions and 2 deletions
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18
flight/pios/common/pios_mpu9250.c
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@ -900,6 +900,10 @@ static bool PIOS_MPU9250_HandleData()
#endif #endif
data.gyro_y = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X data.gyro_y = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
data.gyro_x = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y data.gyro_x = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
#ifdef PIOS_MPU9250_MAG
data.mag_y = GET_SENSOR_DATA(mpu9250_data, Mag_X); // chip X
data.mag_x = GET_SENSOR_DATA(mpu9250_data, Mag_Y); // chip Y
#endif
break; break;
case PIOS_MPU9250_TOP_90DEG: case PIOS_MPU9250_TOP_90DEG:
// -1 to bring it back to -32768 +32767 range // -1 to bring it back to -32768 +32767 range
@ -909,6 +913,10 @@ static bool PIOS_MPU9250_HandleData()
#endif #endif
data.gyro_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y data.gyro_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
data.gyro_x = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X data.gyro_x = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
#ifdef PIOS_MPU9250_MAG
data.mag_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)); // chip Y
data.mag_x = GET_SENSOR_DATA(mpu9250_data, Mag_X); // chip X
#endif
break; break;
case PIOS_MPU9250_TOP_180DEG: case PIOS_MPU9250_TOP_180DEG:
#ifdef PIOS_MPU9250_ACCEL #ifdef PIOS_MPU9250_ACCEL
@ -917,6 +925,10 @@ static bool PIOS_MPU9250_HandleData()
#endif #endif
data.gyro_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X data.gyro_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
data.gyro_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y data.gyro_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
#ifdef PIOS_MPU9250_MAG
data.mag_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)); // chip X
data.mag_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)); // chip Y
#endif
break; break;
case PIOS_MPU9250_TOP_270DEG: case PIOS_MPU9250_TOP_270DEG:
#ifdef PIOS_MPU9250_ACCEL #ifdef PIOS_MPU9250_ACCEL
@ -925,6 +937,10 @@ static bool PIOS_MPU9250_HandleData()
#endif #endif
data.gyro_y = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y data.gyro_y = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
data.gyro_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X data.gyro_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
#ifdef PIOS_MPU9250_MAG
data.mag_y = GET_SENSOR_DATA(mpu9250_data, Mag_Y); // chip Y
data.mag_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)); // chip X
#endif
break; break;
} }
#ifdef PIOS_MPU9250_ACCEL #ifdef PIOS_MPU9250_ACCEL
@ -934,8 +950,6 @@ static bool PIOS_MPU9250_HandleData()
data.temperature = GET_SENSOR_DATA(mpu9250_data, Temperature); data.temperature = GET_SENSOR_DATA(mpu9250_data, Temperature);
#ifdef PIOS_MPU9250_MAG #ifdef PIOS_MPU9250_MAG
data.mag_y = GET_SENSOR_DATA(mpu9250_data, Mag_X); // chip X
data.mag_x = GET_SENSOR_DATA(mpu9250_data, Mag_Y); // chip Y
data.mag_z = GET_SENSOR_DATA(mpu9250_data, Mag_Z); // chip Z data.mag_z = GET_SENSOR_DATA(mpu9250_data, Mag_Z); // chip Z
data.mag_valid = mpu9250_data.data.st1 & PIOS_MPU9250_MAG_DATA_RDY; data.mag_valid = mpu9250_data.data.st1 & PIOS_MPU9250_MAG_DATA_RDY;
#endif #endif