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AP_InertialSensor: LSM9DS0: 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 10:35:53 -03:00 committed by Andrew Tridgell
parent 0963159bb8
commit f946f48dce
1 changed files with 6 additions and 8 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
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@ -739,6 +739,8 @@ void AP_InertialSensor_LSM9DS0::_read_data_transaction_a()
_accel_raw_data(&raw_data);
Vector3f accel_data(raw_data.x, -raw_data.y, -raw_data.z);
accel_data *= _accel_scale;
_rotate_and_correct_accel(_accel_instance, accel_data);
_accel_filtered = _accel_filter.apply(accel_data);
_accel_sample_available = true;
}
@ -752,23 +754,19 @@ void AP_InertialSensor_LSM9DS0::_read_data_transaction_g()
_gyro_raw_data(&raw_data);
Vector3f gyro_data(raw_data.x, -raw_data.y, -raw_data.z);
gyro_data *= _gyro_scale;
_rotate_and_correct_gyro(_gyro_instance, gyro_data);
_gyro_filtered = _gyro_filter.apply(gyro_data);
_gyro_sample_available = true;
}
bool AP_InertialSensor_LSM9DS0::update()
{
Vector3f gyro = _gyro_filtered;
Vector3f accel = _accel_filtered;
_accel_sample_available = false;
_gyro_sample_available = false;
accel *= _accel_scale;
gyro *= _gyro_scale;
_publish_gyro(_gyro_instance, gyro);
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, _gyro_filtered, false);
_publish_accel(_accel_instance, _accel_filtered, false);
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
_set_accel_filter(_accel_filter_cutoff());