From: Keith Packard <keithp@keithp.com>
Date: Thu, 16 Feb 2023 21:53:38 +0000 (-0800)
Subject: altos: Reset TMega v6.0 BMI axes to not adjust any signs
X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=refs%2Fheads%2Fbmi088;p=fw%2Faltos

altos: Reset TMega v6.0 BMI axes to not adjust any signs

Try to figure out why the data doesn't match the docs.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_bmi088.c b/src/drivers/ao_bmi088.c
index d03fceab..d25f17e0 100644
--- a/src/drivers/ao_bmi088.c
+++ b/src/drivers/ao_bmi088.c
@@ -297,6 +297,7 @@ ao_bmi088_show(void)
 		ao_bmi088_pitch(&ao_bmi088_current),
 		ao_bmi088_yaw(&ao_bmi088_current));
 #else
+#error BMI088 should only be used with normalized values
 	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
 		ao_bmi088_current.acc.x,
 		ao_bmi088_current.acc.y,
diff --git a/src/easymega-v3.0/ao_pins.h b/src/easymega-v3.0/ao_pins.h
index 863909d5..2fa4fd01 100644
--- a/src/easymega-v3.0/ao_pins.h
+++ b/src/easymega-v3.0/ao_pins.h
@@ -177,7 +177,7 @@ struct ao_adc {
 };
 
 #define AO_ADC_DUMP(p) \
-	printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+	printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
 	       (p)->tick, \
 	       (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
 	       (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
diff --git a/src/telemega-v5.0/ao_pins.h b/src/telemega-v5.0/ao_pins.h
index 3f2c9ea4..03b9c142 100644
--- a/src/telemega-v5.0/ao_pins.h
+++ b/src/telemega-v5.0/ao_pins.h
@@ -344,7 +344,7 @@ struct ao_adc {
  *	pin 1 NW corner of chip
  *
  *	+along		+Y	+roll	+Y
- *	+across		-X	+pitch	-X
+ *	+across		+X	+pitch	+X
  *	+through	+Z	+yaw	+Z
  *
  */
@@ -358,11 +358,11 @@ struct ao_adc {
 #define HAS_IMU			1
 
 #define ao_mpu6000_along(m)	((m)->accel_y)
-#define ao_mpu6000_across(m)	(-(m)->accel_x)
+#define ao_mpu6000_across(m)	((m)->accel_x)
 #define ao_mpu6000_through(m)	((m)->accel_z)
 
 #define ao_mpu6000_roll(m)	((m)->gyro_y)
-#define ao_mpu6000_pitch(m)	(-(m)->gyro_x)
+#define ao_mpu6000_pitch(m)	((m)->gyro_x)
 #define ao_mpu6000_yaw(m)	((m)->gyro_z)
 
 #define ao_data_along(packet)	ao_mpu6000_along(&(packet)->mpu6000)
diff --git a/src/telemega-v6.0/ao_pins.h b/src/telemega-v6.0/ao_pins.h
index 89af7ed2..2d27314a 100644
--- a/src/telemega-v6.0/ao_pins.h
+++ b/src/telemega-v6.0/ao_pins.h
@@ -333,6 +333,20 @@ struct ao_adc {
  * +along	north	+roll	left up
  * +across	west	+pitch	nose down
  * +through	up	+yaw	left turn
+ *
+ * 2023-2-16 -- keithp -- I think this is incorrect. Bdale
+ * measured all of the boards with the following results.
+ *
+ * +along	nose up
+ * +across 	USB down
+ * +through	TH down
+ *
+ * And, with the board aligned to have positive accel for the relevant axis,
+ * looking down from above we have:
+ *
+ * +roll	counter clockwise (nose up)
+ * +pitch	counter clockwise (USB down)
+ * +yaw		counter clockwise (TH down)
  */
 
 /*