From 6272955567be7c9cb4f5f60e300ea9990f09eb9f Mon Sep 17 00:00:00 2001 From: deweibel Date: Sun, 24 Oct 2010 20:10:09 +0000 Subject: [PATCH] small correction to imu lib git-svn-id: https://arducopter.googlecode.com/svn/trunk@728 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- libraries/AP_IMU/AP_IMU.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_IMU/AP_IMU.cpp b/libraries/AP_IMU/AP_IMU.cpp index 0642ae3081..94d65a1735 100644 --- a/libraries/AP_IMU/AP_IMU.cpp +++ b/libraries/AP_IMU/AP_IMU.cpp @@ -82,7 +82,7 @@ AP_IMU::init(void) for(int i = 0; i < 200; i++){ // We take some readings... for (int j = 0; j < 6; j++) { _adc_in[j] = APM_ADC.Ch(_sensors[j]); - _adc_in[j] -= _gyro_temp_curve(j, tc_temp); // Subtract temp compensated typical gyro bias + _adc_in[j] -= _gyro_temp_curve[j][tc_temp]; // Subtract temp compensated typical gyro bias if (_sensor_signs[j] < 0) temp = (_adc_offset[j] - _adc_in[j]); else @@ -119,7 +119,7 @@ AP_IMU::get_gyro(void) for (int i = 0; i < 3; i++) { _adc_in[i] = APM_ADC.Ch(_sensors[i]); - _adc_in[i] -= _gyro_temp_curve(i, tc_temp); // Subtract temp compensated typical gyro bias + _adc_in[i] -= _gyro_temp_curve[i][tc_temp]; // Subtract temp compensated typical gyro bias if (_sensor_signs[i] < 0) temp = (_adc_offset[i] - _adc_in[i]); else