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MPU6000: Flip Y and Z axes for SMACCM_HAL.

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- The accelerometer is upside-down on the PX4FMU vs the APM2.
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James Bielman 2013-01-07 09:29:29 -08:00 committed by Pat Hickey
parent 1309b7332a
commit 8e38ef6567
1 changed files with 9 additions and 2 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -171,12 +171,19 @@ const float AP_InertialSensor_MPU6000::_gyro_scale = (0.0174532 / 16.4);
/* pch: I believe the accel and gyro indicies are correct /* pch: I believe the accel and gyro indicies are correct
* but somone else should please confirm. * but somone else should please confirm.
*
* jamesjb: Y and Z axes are flipped on the PX4FMU
*/ */
const uint8_t AP_InertialSensor_MPU6000::_gyro_data_index[3] = { 5, 4, 6 }; const uint8_t AP_InertialSensor_MPU6000::_gyro_data_index[3] = { 5, 4, 6 };
const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, 1, -1 };
const uint8_t AP_InertialSensor_MPU6000::_accel_data_index[3] = { 1, 0, 2 }; const uint8_t AP_InertialSensor_MPU6000::_accel_data_index[3] = { 1, 0, 2 };
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, -1, 1 };
const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, -1, 1 };
#else
const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, 1, -1 };
const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, 1, -1 }; const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, 1, -1 };
#endif
const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3; const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3;