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altos/altoslib: BMX160 Y axis gyro direction is opposite from MPU
[fw/altos]
/
altoslib
/
AltosCalData.java
diff --git
a/altoslib/AltosCalData.java
b/altoslib/AltosCalData.java
index c3d79250a6e54cb23e25a2fb870e988f16dccce5..98f6b5b1c06f47340e27df6d46c7222efebc9c8c 100644
(file)
--- a/
altoslib/AltosCalData.java
+++ b/
altoslib/AltosCalData.java
@@
-156,8
+156,6
@@
public class AltosCalData {
public double acceleration(double sensor) {
double accel;
accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
public double acceleration(double sensor) {
double accel;
accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
- System.out.printf("acceleration %g (+ %g - %g g %g) -> %g\n",
- sensor, accel_plus_g, accel_minus_g, ground_accel, accel);
return accel;
}
return accel;
}
@@
-249,6
+247,10
@@
public class AltosCalData {
public int state = AltosLib.MISSING;
public int state = AltosLib.MISSING;
+ public String state_name() {
+ return AltosLib.state_name(state);
+ }
+
public void set_state(int state) {
if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
set_boost_tick();
public void set_state(int state) {
if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
set_boost_tick();
@@
-303,6
+305,12
@@
public class AltosCalData {
return temp_gps;
}
return temp_gps;
}
+ public int imu_type = AltosLib.MISSING;;
+
+ public void set_imu_type(int imu_type) {
+ this.imu_type = imu_type;
+ }
+
public double accel_zero_along, accel_zero_across, accel_zero_through;
public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
public double accel_zero_along, accel_zero_across, accel_zero_through;
public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
@@
-314,15
+322,15
@@
public class AltosCalData {
}
public double accel_along(double counts) {
}
public double accel_along(double counts) {
- return AltosIMU.convert_accel(counts - accel_zero_along);
+ return AltosIMU.convert_accel(counts - accel_zero_along
, imu_type
);
}
public double accel_across(double counts) {
}
public double accel_across(double counts) {
- return AltosIMU.convert_accel(counts - accel_zero_across);
+ return AltosIMU.convert_accel(counts - accel_zero_across
, imu_type
);
}
public double accel_through(double counts) {
}
public double accel_through(double counts) {
- return AltosIMU.convert_accel(counts - accel_zero_through);
+ return AltosIMU.convert_accel(counts - accel_zero_through
, imu_type
);
}
public double gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
}
public double gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
@@
-340,19
+348,19
@@
public class AltosCalData {
if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
return AltosLib.MISSING;
if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
return AltosLib.MISSING;
- return AltosIMU.gyro_degrees_per_second(counts
, gyro_zero_roll
);
+ return AltosIMU.gyro_degrees_per_second(counts
- gyro_zero_roll, imu_type
);
}
public double gyro_pitch(double counts) {
if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
return AltosLib.MISSING;
}
public double gyro_pitch(double counts) {
if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
return AltosLib.MISSING;
- return AltosIMU.gyro_degrees_per_second(counts
, gyro_zero_pitch
);
+ return AltosIMU.gyro_degrees_per_second(counts
- gyro_zero_pitch, imu_type
);
}
public double gyro_yaw(double counts) {
if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
return AltosLib.MISSING;
}
public double gyro_yaw(double counts) {
if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
return AltosLib.MISSING;
- return AltosIMU.gyro_degrees_per_second(counts
, gyro_zero_yaw
);
+ return AltosIMU.gyro_degrees_per_second(counts
- gyro_zero_yaw, imu_type
);
}
private double gyro_zero_overflow(double first) {
}
private double gyro_zero_overflow(double first) {
@@
-385,19
+393,19
@@
public class AltosCalData {
public double mag_along(double along) {
if (along == AltosLib.MISSING)
return AltosLib.MISSING;
public double mag_along(double along) {
if (along == AltosLib.MISSING)
return AltosLib.MISSING;
- return Altos
Mag.convert_gauss(along
);
+ return Altos
IMU.convert_gauss(along, imu_type, AltosIMU.mag_along_axis(imu_type)
);
}
public double mag_across(double across) {
if (across == AltosLib.MISSING)
return AltosLib.MISSING;
}
public double mag_across(double across) {
if (across == AltosLib.MISSING)
return AltosLib.MISSING;
- return Altos
Mag.convert_gauss(across
);
+ return Altos
IMU.convert_gauss(across, imu_type, AltosIMU.mag_across_axis(imu_type)
);
}
public double mag_through(double through) {
if (through == AltosLib.MISSING)
return AltosLib.MISSING;
}
public double mag_through(double through) {
if (through == AltosLib.MISSING)
return AltosLib.MISSING;
- return Altos
Mag.convert_gauss(through
);
+ return Altos
IMU.convert_gauss(through, imu_type, AltosIMU.mag_through_axis(imu_type)
);
}
public AltosCalData() {
}
public AltosCalData() {