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added ability to zero out the accels 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1115 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-13 03:57:42 +00:00
parent ddd2b585f8
commit e3e8dbb0b3
2 changed files with 9 additions and 0 deletions
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8
libraries/AP_IMU/AP_IMU.cpp
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@ -171,6 +171,14 @@ AP_IMU::init_accel(void) // 3, 4, 5
save_accel_eeprom();
}
void
AP_IMU::zero_accel(void) // 3, 4, 5
{
_adc_offset[3] = 0;
_adc_offset[4] = 0;
_adc_offset[5] = 0;
save_accel_eeprom();
}
/**************************************************/
// Returns the temperature compensated raw gyro value
//---------------------------------------------------

1
libraries/AP_IMU/AP_IMU.h
View File

@ -23,6 +23,7 @@ public:
void init(void); // inits both
void init_accel(void); // just Accels
void init_gyro(void); // just gyros
void zero_accel(void);
void load_gyro_eeprom(void);
void save_gyro_eeprom(void);