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Add pitch angle to AK8963 for Bebop

This commit is contained in:
Michael Schaeuble 2016-10-04 16:14:44 +02:00 committed by Julian Oes
parent bc44ba2907
commit 6bb03f3665
3 changed files with 14 additions and 2 deletions
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4
posix-configs/bebop/px4.config
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@ -17,9 +17,9 @@ param set MC_YAWRATE_P 0.05
param set MC_YAWRATE_I 0.001
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.7
#df_ms5607_wrapper start
df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 4
df_ak8963_wrapper start -R 32
sensors start
commander start
attitude_estimator_q start

10
src/lib/conversion/rotation.cpp
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@ -255,5 +255,15 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
y = z; z = -tmp;
return;
}
case ROTATION_PITCH_9_YAW_180: {
float tmpx = x;
float tmpy = y;
float tmpz = z;
x = -0.987688f * tmpx + 0.000000f * tmpy + -0.156434f * tmpz;
y = 0.000000f * tmpx + -1.000000f * tmpy + 0.000000f * tmpz;
z = -0.156434f * tmpx + 0.000000f * tmpy + 0.987688f * tmpz;
return;
}
}
}

2
src/lib/conversion/rotation.h
View File

@ -80,6 +80,7 @@ enum Rotation {
ROTATION_PITCH_90_ROLL_90 = 29,
ROTATION_YAW_293_PITCH_68_ROLL_90 = 30,
ROTATION_PITCH_90_ROLL_270 = 31,
ROTATION_PITCH_9_YAW_180 = 32,
ROTATION_MAX
};
@ -122,6 +123,7 @@ const rot_lookup_t rot_lookup[] = {
{ 90, 90, 0 },
{ 90, 68, 293 },
{270, 90, 0 },
{ 0, 9, 180 },
};
/**