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[imu] fix old config compat for axis signs (#2912)

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This commit is contained in:
Gautier Hattenberger
2022-10-04 09:29:06 +02:00
committed by GitHub
parent 6f2634c8bb
commit 1a9fbc348a
1 changed files with 36 additions and 3 deletions
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sw/airborne/modules/imu/imu.c
+36 -3
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@@ -39,6 +39,17 @@
#define IMU_INTEGRATION false
#endif
/** By default gyro signs are positive for single IMU with old format */
#ifndef IMU_GYRO_P_SIGN
#define IMU_GYRO_P_SIGN 1
#endif
#ifndef IMU_GYRO_Q_SIGN
#define IMU_GYRO_Q_SIGN 1
#endif
#ifndef IMU_GYRO_R_SIGN
#define IMU_GYRO_R_SIGN 1
#endif
/** Default gyro calibration is for single IMU with old format */
#if defined(IMU_GYRO_P_NEUTRAL) || defined(IMU_GYRO_Q_NEUTRAL) || defined(IMU_GYRO_R_NEUTRAL)
#define GYRO_NEUTRAL {IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL}
@@ -46,7 +57,7 @@ PRINT_CONFIG_MSG("Using single IMU gyro neutral calibration")
#endif
#if defined(IMU_GYRO_P_SENS) || defined(IMU_GYRO_Q_SENS) || defined(IMU_GYRO_R_SENS)
#define GYRO_SCALE {{IMU_GYRO_P_SENS_NUM, IMU_GYRO_Q_SENS_NUM, IMU_GYRO_R_SENS_NUM}, {IMU_GYRO_P_SENS_DEN, IMU_GYRO_Q_SENS_DEN, IMU_GYRO_R_SENS_DEN}}
#define GYRO_SCALE {{IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM, IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM, IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM}, {IMU_GYRO_P_SENS_DEN, IMU_GYRO_Q_SENS_DEN, IMU_GYRO_R_SENS_DEN}}
PRINT_CONFIG_MSG("Using single IMU gyro sensitivity calibration")
#endif
@@ -60,6 +71,17 @@ PRINT_CONFIG_MSG("Using single IMU gyro sensitivity calibration")
#define IMU_GYRO_CALIB {}
#endif
/** By default accel signs are positive for single IMU with old format */
#ifndef IMU_ACCEL_X_SIGN
#define IMU_ACCEL_X_SIGN 1
#endif
#ifndef IMU_ACCEL_Y_SIGN
#define IMU_ACCEL_Y_SIGN 1
#endif
#ifndef IMU_ACCEL_Z_SIGN
#define IMU_ACCEL_Z_SIGN 1
#endif
/** Default accel calibration is for single IMU with old format */
#if defined(IMU_ACCEL_X_NEUTRAL) || defined(IMU_ACCEL_Y_NEUTRAL) || defined(IMU_ACCEL_Z_NEUTRAL)
#define ACCEL_NEUTRAL {IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL}
@@ -67,7 +89,7 @@ PRINT_CONFIG_MSG("Using single IMU accel neutral calibration")
#endif
#if defined(IMU_ACCEL_X_SENS) || defined(IMU_ACCEL_Y_SENS) || defined(IMU_ACCEL_Z_SENS)
#define ACCEL_SCALE {{IMU_ACCEL_X_SENS_NUM, IMU_ACCEL_Y_SENS_NUM, IMU_ACCEL_Z_SENS_NUM}, {IMU_ACCEL_X_SENS_DEN, IMU_ACCEL_Y_SENS_DEN, IMU_ACCEL_Z_SENS_DEN}}
#define ACCEL_SCALE {{IMU_ACCEL_X_SIGN*IMU_ACCEL_X_SENS_NUM, IMU_ACCEL_Y_SIGN*IMU_ACCEL_Y_SENS_NUM, IMU_ACCEL_Z_SIGN*IMU_ACCEL_Z_SENS_NUM}, {IMU_ACCEL_X_SENS_DEN, IMU_ACCEL_Y_SENS_DEN, IMU_ACCEL_Z_SENS_DEN}}
PRINT_CONFIG_MSG("Using single IMU accel sensitivity calibration")
#endif
@@ -81,6 +103,17 @@ PRINT_CONFIG_MSG("Using single IMU accel sensitivity calibration")
#define IMU_ACCEL_CALIB {}
#endif
/** By default mag signs are positive for single IMU with old format */
#ifndef IMU_MAG_X_SIGN
#define IMU_MAG_X_SIGN 1
#endif
#ifndef IMU_MAG_Y_SIGN
#define IMU_MAG_Y_SIGN 1
#endif
#ifndef IMU_MAG_Z_SIGN
#define IMU_MAG_Z_SIGN 1
#endif
/** Default mag calibration is for single IMU with old format */
#if defined(IMU_MAG_X_NEUTRAL) || defined(IMU_MAG_Y_NEUTRAL) || defined(IMU_MAG_Z_NEUTRAL)
#define MAG_NEUTRAL {IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL}
@@ -88,7 +121,7 @@ PRINT_CONFIG_MSG("Using single IMU mag neutral calibration")
#endif
#if defined(IMU_MAG_X_SENS) || defined(IMU_MAG_Y_SENS) || defined(IMU_MAG_Z_SENS)
#define MAG_SCALE {{IMU_MAG_X_SENS_NUM, IMU_MAG_Y_SENS_NUM, IMU_MAG_Z_SENS_NUM}, {IMU_MAG_X_SENS_DEN, IMU_MAG_Y_SENS_DEN, IMU_MAG_Z_SENS_DEN}}
#define MAG_SCALE {{IMU_MAG_X_SIGN*IMU_MAG_X_SENS_NUM, IMU_MAG_Y_SIGN*IMU_MAG_Y_SENS_NUM, IMU_MAG_Z_SIGN*IMU_MAG_Z_SENS_NUM}, {IMU_MAG_X_SENS_DEN, IMU_MAG_Y_SENS_DEN, IMU_MAG_Z_SENS_DEN}}
PRINT_CONFIG_MSG("Using single IMU mag sensitivity calibration")
#endif