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MindPX: Remove hardcode for sensors rotation.

This commit is contained in:
Henry Zhang 2016-08-17 15:37:19 +08:00 committed by Lorenz Meier
parent f17dc2f2a6
commit b280e28623
4 changed files with 16 additions and 75 deletions
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27
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -184,24 +184,25 @@ fi
if ver hwcmp MINDPX_V2
then
if mpu6500 start
then
fi
if lsm303d start
then
fi
if l3gd20 start
then
fi
# External I2C bus
if hmc5883 -C -T -X start
then
fi
if lis3mdl -R 2 start
# Internal I2C bus
if hmc5883 -C -T -I -R 8 start
then
fi
if mpu6500 -R 8 start
then
fi
if lsm303d -R 10 start
then
fi
if l3gd20 -R 14 start
then
fi
fi

12
src/drivers/l3gd20/l3gd20.cpp
View File

@ -1045,18 +1045,6 @@ L3GD20::measure()
report.z_raw = raw_report.z;
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
int16_t tx = -report.y_raw;
int16_t ty = -report.x_raw;
int16_t tz = -report.z_raw;
report.x_raw = tx;
report.y_raw = ty;
report.z_raw = tz;
#endif
report.temperature_raw = raw_report.temp;
float xraw_f = report.x_raw;

22
src/drivers/lsm303d/lsm303d.cpp
View File

@ -1569,18 +1569,8 @@ LSM303D::measure()
* 74 from all measurements centers them around zero.
*/
accel_report.timestamp = hrt_absolute_time();
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
int16_t tx = raw_accel_report.y;
int16_t ty = raw_accel_report.x;
int16_t tz = -raw_accel_report.z;
raw_accel_report.x = tx;
raw_accel_report.y = ty;
raw_accel_report.z = tz;
#endif
// use the temperature from the last mag reading
accel_report.temperature = _last_temperature;
@ -1711,20 +1701,8 @@ LSM303D::mag_measure()
* 74 from all measurements centers them around zero.
*/
mag_report.timestamp = hrt_absolute_time();
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
int16_t tx = raw_mag_report.y;
int16_t ty = raw_mag_report.x;
int16_t tz = -raw_mag_report.z;
raw_mag_report.x = tx;
raw_mag_report.y = ty;
raw_mag_report.z = tz;
#endif
mag_report.x_raw = raw_mag_report.x;
mag_report.y_raw = raw_mag_report.y;
mag_report.z_raw = raw_mag_report.z;

30
src/drivers/mpu6500/mpu6500.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved.
* Copyright (c) 2015, 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -1719,9 +1719,6 @@ MPU6500::measure()
report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
if (report.accel_x == 0 &&
report.accel_y == 0 &&
report.accel_z == 0 &&
@ -1749,29 +1746,6 @@ MPU6500::measure()
return;
}
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
/*
* Swap axes and negate z
*/
int16_t accel_xt = report.accel_y;
int16_t accel_yt = report.accel_x;
int16_t accel_zt = ((report.accel_z == -32768) ? 32767 : -report.accel_z);
int16_t gyro_xt = report.gyro_y;
int16_t gyro_yt = report.gyro_x;
int16_t gyro_zt = ((report.gyro_z == -32768) ? 32767 : -report.gyro_z);
/*
* Apply the swap
*/
report.accel_x = accel_xt;
report.accel_y = accel_yt;
report.accel_z = accel_zt;
report.gyro_x = gyro_xt;
report.gyro_y = gyro_yt;
report.gyro_z = gyro_zt;
#else
/*
* Swap axes and negate y
*/
@ -1788,7 +1762,7 @@ MPU6500::measure()
report.accel_y = accel_yt;
report.gyro_x = gyro_xt;
report.gyro_y = gyro_yt;
#endif
/*
* Report buffers.
*/