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default sens values for aspirin2

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This commit is contained in:
Felix Ruess
2012-02-01 14:47:14 +01:00
parent fc27a82638
commit 16c2bbf176
1 changed files with 45 additions and 0 deletions
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sw/airborne/subsystems/imu/imu_aspirin2.h
+45
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@@ -50,6 +50,51 @@
#define IMU_ACCEL_Z_SIGN 1
#endif
/** default gyro sensitivy and neutral from the datasheet
* MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range
* sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC
* sens = 1/16.4 * pi/180 * 4096 = 4.359066229
*/
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS 4.359
#define IMU_GYRO_P_SENS_NUM 4359
#define IMU_GYRO_P_SENS_DEN 1000
#define IMU_GYRO_Q_SENS 4.359
#define IMU_GYRO_Q_SENS_NUM 4359
#define IMU_GYRO_Q_SENS_DEN 1000
#define IMU_GYRO_R_SENS 4.359
#define IMU_GYRO_R_SENS_NUM 4359
#define IMU_GYRO_R_SENS_DEN 1000
#endif
#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
#define IMU_GYRO_P_NEUTRAL 0
#define IMU_GYRO_Q_NEUTRAL 0
#define IMU_GYRO_R_NEUTRAL 0
#endif
/** default accel sensitivy from the datasheet
* MPU60X0 has 2048 LSB/g
* fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC
* sens = 9.81 / 2048 * 1024 = 4.905
*/
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
#define IMU_ACCEL_X_SENS 4.905
#define IMU_ACCEL_X_SENS_NUM 4905
#define IMU_ACCEL_X_SENS_DEN 1000
#define IMU_ACCEL_Y_SENS 4.905
#define IMU_ACCEL_Y_SENS_NUM 4905
#define IMU_ACCEL_Y_SENS_DEN 1000
#define IMU_ACCEL_Z_SENS 4.905
#define IMU_ACCEL_Z_SENS_NUM 4905
#define IMU_ACCEL_Z_SENS_DEN 1000
#endif
#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
#define IMU_ACCEL_X_NEUTRAL 0
#define IMU_ACCEL_Y_NEUTRAL 0
#define IMU_ACCEL_Z_NEUTRAL 0
#endif
enum Aspirin2Status
{ Aspirin2StatusUninit,
Aspirin2StatusIdle,