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px4-firmware
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Merge branch 'public-export-build' into fmuv2_bringup

This commit is contained in:
Lorenz Meier 2013-04-27 19:53:21 +02:00
parent 86cf4d075d 8040b9b96e
commit 81df6b1eda
1 changed files with 4 additions and 0 deletions
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4
src/drivers/hmc5883/hmc5883.cpp
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@ -841,6 +841,7 @@ HMC5883::collect()
* 74 from all measurements centers them around zero. * 74 from all measurements centers them around zero.
*/ */
#ifdef PX4_I2C_BUS_ONBOARD
if (_bus == PX4_I2C_BUS_ONBOARD) { if (_bus == PX4_I2C_BUS_ONBOARD) {
/* to align the sensor axes with the board, x and y need to be flipped */ /* to align the sensor axes with the board, x and y need to be flipped */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
@ -849,13 +850,16 @@ HMC5883::collect()
/* z remains z */ /* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else { } else {
#endif
/* XXX axis assignment of external sensor is yet unknown */ /* XXX axis assignment of external sensor is yet unknown */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */ /* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */ /* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD
} }
#endif
/* publish it */ /* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);