mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
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_imu(imu),
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_product_id(AP_PRODUCT_ID_NONE)
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{}
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/*
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rotate gyro vector and add the gyro offset
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*/
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void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro)
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{
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_imu._gyro[instance] = gyro;
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_imu._gyro[instance].rotate(_imu._board_orientation);
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_imu._gyro[instance] -= _imu._gyro_offset[instance];
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_imu._gyro_healthy[instance] = true;
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}
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/*
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rotate accel vector, scale and add the accel offset
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*/
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void AP_InertialSensor_Backend::_rotate_and_offset_accel(uint8_t instance, const Vector3f &accel)
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{
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_imu._accel[instance] = accel;
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_imu._accel[instance].rotate(_imu._board_orientation);
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const Vector3f &accel_scale = _imu._accel_scale[instance].get();
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_imu._accel[instance].x *= accel_scale.x;
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_imu._accel[instance].y *= accel_scale.y;
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_imu._accel[instance].z *= accel_scale.z;
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_imu._accel[instance] -= _imu._accel_offset[instance];
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_imu._accel_healthy[instance] = true;
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}
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