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small correction to imu lib

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@728 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
deweibel 2010-10-24 20:10:09 +00:00
parent de51162e81
commit 6272955567
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_IMU/AP_IMU.cpp
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@ -82,7 +82,7 @@ AP_IMU::init(void)
for(int i = 0; i < 200; i++){ // We take some readings... for(int i = 0; i < 200; i++){ // We take some readings...
for (int j = 0; j < 6; j++) { for (int j = 0; j < 6; j++) {
_adc_in[j] = APM_ADC.Ch(_sensors[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) if (_sensor_signs[j] < 0)
temp = (_adc_offset[j] - _adc_in[j]); temp = (_adc_offset[j] - _adc_in[j]);
else else
@ -119,7 +119,7 @@ AP_IMU::get_gyro(void)
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
_adc_in[i] = APM_ADC.Ch(_sensors[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) if (_sensor_signs[i] < 0)
temp = (_adc_offset[i] - _adc_in[i]); temp = (_adc_offset[i] - _adc_in[i]);
else else