Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: Oilpan: apply correction on each new sample 

These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.

Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
This commit is contained in:
Gustavo Jose de Sousa 2015-08-28 10:36:28 -03:00 committed by Andrew Tridgell
parent fc38691e0b
commit a56c8deaee
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
View File

@ -104,14 +104,16 @@ bool AP_InertialSensor_Oilpan::update()
v(_sensor_signs[0] * ( adc_values[0] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_x,
_sensor_signs[1] * ( adc_values[1] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_y,
_sensor_signs[2] * ( adc_values[2] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_z);
_publish_gyro(_gyro_instance, v);
_rotate_and_correct_gyro(_gyro_instance, v);
_publish_gyro(_gyro_instance, v, false);
// copy accels to frontend
v(_sensor_signs[3] * (adc_values[3] - OILPAN_RAW_ACCEL_OFFSET),
_sensor_signs[4] * (adc_values[4] - OILPAN_RAW_ACCEL_OFFSET),
_sensor_signs[5] * (adc_values[5] - OILPAN_RAW_ACCEL_OFFSET));
v *= OILPAN_ACCEL_SCALE_1G;
_publish_accel(_accel_instance, v);
_rotate_and_correct_accel(_accel_instance, v);
_publish_accel(_accel_instance, v, false);
return true;
}