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altoslib: Compute orientation from eeprom data files
[fw/altos]
/
altoslib
/
AltosIMU.java
diff --git
a/altoslib/AltosIMU.java
b/altoslib/AltosIMU.java
index 20a2a413da4f9499a7f1ce052dd52f882440b0c9..b434e02e415d6f77f912d9571b6f2aaaf03461b7 100644
(file)
--- a/
altoslib/AltosIMU.java
+++ b/
altoslib/AltosIMU.java
@@
-36,10
+36,12
@@
public class AltosIMU implements Cloneable {
return counts / counts_per_g * AltosConvert.gravity;
}
return counts / counts_per_g * AltosConvert.gravity;
}
- public static final double counts_per_degsec = 16.4;
+ /* In radians */
+ public static final double GYRO_FULLSCALE_DEGREES = 2000.0;
+ public static final double GYRO_COUNTS = 32767.0;
- public static double
convert_gyro(double counts
) {
- return
counts / counts_per_degsec
;
+ public static double
gyro_degrees_per_second(double counts, double cal
) {
+ return
(counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS
;
}
public boolean parse_string(String line) {
}
public boolean parse_string(String line) {