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[dox] imu units

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This commit is contained in:
Felix Ruess
2014-05-30 18:31:25 +02:00
parent d88405c818
commit 1f04d11523
2 changed files with 4 additions and 5 deletions
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sw/airborne/subsystems/imu.c
+1 -2
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@@ -144,8 +144,7 @@ INFO("Magnetometer neutrals are set to zero, you should calibrate!")
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
#if USE_IMU_FLOAT
#else // !USE_IMU_FLOAT
#if !USE_IMU_FLOAT
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
sw/airborne/subsystems/imu.h
+3 -3
View File
@@ -37,9 +37,9 @@ extern void imu_periodic(void);
/** abstract IMU interface providing fixed point interface */
struct Imu {
struct Int32Rates gyro; ///< gyroscope measurements
struct Int32Vect3 accel; ///< accelerometer measurements
struct Int32Vect3 mag; ///< magnetometer measurements
struct Int32Rates gyro; ///< gyroscope measurements in rad/s in BFP with #INT32_RATE_FRAC
struct Int32Vect3 accel; ///< accelerometer measurements in m/s^2 in BFP with #INT32_ACCEL_FRAC
struct Int32Vect3 mag; ///< magnetometer measurements scaled to 1 in BFP with #INT32_MAG_FRAC
struct Int32Rates gyro_prev; ///< previous gyroscope measurements
struct Int32Vect3 accel_prev; ///< previous accelerometer measurements
struct Int32Rates gyro_neutral; ///< gyroscope bias