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MPU6000 driver: Rotate before applying offsets.

This commit is contained in:
Lorenz Meier 2015-03-15 17:26:11 +01:00
parent 3436f08976
commit 92a52ea195
1 changed files with 20 additions and 12 deletions
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32
src/drivers/mpu6000/mpu6000.cpp
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@ -1711,17 +1711,21 @@ MPU6000::measure()
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
float xraw_f = report.accel_x;
float yraw_f = report.accel_y;
float zraw_f = report.accel_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
arb.x = _accel_filter_x.apply(x_in_new);
arb.y = _accel_filter_y.apply(y_in_new);
arb.z = _accel_filter_z.apply(z_in_new);
// apply user specified rotation
rotate_3f(_rotation, arb.x, arb.y, arb.z);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
@ -1732,17 +1736,21 @@ MPU6000::measure()
grb.y_raw = report.gyro_y;
grb.z_raw = report.gyro_z;
float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
xraw_f = report.gyro_x;
yraw_f = report.gyro_y;
zraw_f = report.gyro_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
// apply user specified rotation
rotate_3f(_rotation, grb.x, grb.y, grb.z);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;