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AP_InertialSensor: added per-instance rotation for LSM9DS0

This commit is contained in:
Andrew Tridgell 2016-11-03 20:23:55 +11:00
parent 2df6ed08c2
commit b92c48548a
3 changed files with 17 additions and 6 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -594,7 +594,7 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_ROLL_180));
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_ROLL_180));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
}

13
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -381,23 +381,27 @@ AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
int drdy_pin_num_a,
int drdy_pin_num_g)
int drdy_pin_num_g,
enum Rotation rotation)
: AP_InertialSensor_Backend(imu)
, _dev_gyro(std::move(dev_gyro))
, _dev_accel(std::move(dev_accel))
, _drdy_pin_num_a(drdy_pin_num_a)
, _drdy_pin_num_g(drdy_pin_num_g)
, _rotation(rotation)
{
_product_id = AP_PRODUCT_ID_NONE;
}
AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS0::probe(AP_InertialSensor &_imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel)
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
enum Rotation rotation)
{
AP_InertialSensor_LSM9DS0 *sensor =
new AP_InertialSensor_LSM9DS0(_imu, std::move(dev_gyro), std::move(dev_accel),
LSM9DS0_DRY_X_PIN, LSM9DS0_DRY_G_PIN);
LSM9DS0_DRY_X_PIN, LSM9DS0_DRY_G_PIN,
rotation);
if (!sensor || !sensor->_init_sensor()) {
delete sensor;
return nullptr;
@ -506,6 +510,9 @@ void AP_InertialSensor_LSM9DS0::start(void)
{
_gyro_instance = _imu.register_gyro(760);
_accel_instance = _imu.register_accel(800);
set_gyro_orientation(_gyro_instance, _rotation);
set_accel_orientation(_accel_instance, _rotation);
_set_accel_max_abs_offset(_accel_instance, 5.0f);

8
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
View File

@ -17,13 +17,15 @@ public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel);
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
enum Rotation rotation = ROTATION_NONE);
private:
AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
int drdy_pin_num_a, int drdy_pin_num_b);
int drdy_pin_num_a, int drdy_pin_num_b,
enum Rotation rotation);
struct PACKED sensor_raw_data {
int16_t x;
@ -92,4 +94,6 @@ private:
int _drdy_pin_num_g;
uint8_t _gyro_instance;
uint8_t _accel_instance;
enum Rotation _rotation;
};