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AP_InertialSensor: Final Flymaple orientation fixes

This commit is contained in:
Mike McCauley 2013-09-25 09:21:02 +10:00 committed by Andrew Tridgell
parent 276068356e
commit e4b5d0a3d6
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
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@ -205,9 +205,9 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
// Read gyro // Read gyro
if (hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0) if (hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0)
{ {
int16_t y = -(((int16_t)buffer[0]) << 8) | buffer[1]; // chip X axis int16_t y = -((((int16_t)buffer[0]) << 8) | buffer[1]); // chip X axis
int16_t x = -(((int16_t)buffer[2]) << 8) | buffer[3]; // chip Y axis int16_t x = -((((int16_t)buffer[2]) << 8) | buffer[3]); // chip Y axis
int16_t z = -((((int16_t)buffer[4]) << 8) | buffer[5]); // chip Z axis int16_t z = -((((int16_t)buffer[4]) << 8) | buffer[5]); // chip Z axis
_gyro_sum += Vector3f(x, y, z); _gyro_sum += Vector3f(x, y, z);
_gyro_sum_count++; _gyro_sum_count++;
_last_gyro_timestamp = hal.scheduler->micros(); _last_gyro_timestamp = hal.scheduler->micros();