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remove XSENS_NED flag from the driver since it is correctly handled by the latest firmware

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Gautier Hattenberger
2009-01-15 10:22:54 +00:00
parent 556b64bbeb
commit 206fe22540
1 changed files with 11 additions and 15 deletions
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sw/airborne/ins_xsens.c
+11 -15
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@@ -98,10 +98,6 @@ uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD];
#define XSENS_OUTPUT_SETTINGS 0x80000C05
#endif
#ifndef XSENS_NED
#define XSENS_NED 1
#endif
#define UNINIT 0
#define GOT_START 1
#define GOT_BID 2
@@ -204,20 +200,20 @@ void parse_ins_msg( void ) {
uint8_t l = 0;
if (!XSENS_MASK_AccOut(xsens_output_settings)) {
ins_ax = XSENS_DATA_Calibrated_accX(xsens_msg_buf,offset);
ins_ay = XSENS_NED * XSENS_DATA_Calibrated_accY(xsens_msg_buf,offset);
ins_az = XSENS_NED * XSENS_DATA_Calibrated_accZ(xsens_msg_buf,offset);
ins_ay = XSENS_DATA_Calibrated_accY(xsens_msg_buf,offset);
ins_az = XSENS_DATA_Calibrated_accZ(xsens_msg_buf,offset);
l++;
}
if (!XSENS_MASK_GyrOut(xsens_output_settings)) {
ins_p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf,offset);
ins_q = XSENS_NED * XSENS_DATA_Calibrated_gyrY(xsens_msg_buf,offset);
ins_r = XSENS_NED * XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf,offset);
ins_q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf,offset);
ins_r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf,offset);
l++;
}
if (!XSENS_MASK_MagOut(xsens_output_settings)) {
ins_mx = XSENS_DATA_Calibrated_magX(xsens_msg_buf,offset);
ins_my = XSENS_NED * XSENS_DATA_Calibrated_magY(xsens_msg_buf,offset);
ins_mz = XSENS_NED * XSENS_DATA_Calibrated_magZ(xsens_msg_buf,offset);
ins_my = XSENS_DATA_Calibrated_magY(xsens_msg_buf,offset);
ins_mz = XSENS_DATA_Calibrated_magZ(xsens_msg_buf,offset);
l++;
}
offset += l * XSENS_DATA_Calibrated_LENGTH / 3;
@@ -241,9 +237,9 @@ void parse_ins_msg( void ) {
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) {
ins_phi = XSENS_DATA_Euler_roll(xsens_msg_buf,offset) * M_PI / 180;
ins_theta = XSENS_NED * XSENS_DATA_Euler_pitch(xsens_msg_buf,offset) * M_PI / 180;
ins_psi = XSENS_NED * XSENS_DATA_Euler_yaw(xsens_msg_buf,offset) * M_PI / 180;
gps_course = (int16_t)(XSENS_NED * XSENS_DATA_Euler_yaw(xsens_msg_buf,offset) * 10);
ins_theta = XSENS_DATA_Euler_pitch(xsens_msg_buf,offset) * M_PI / 180;
ins_psi = XSENS_DATA_Euler_yaw(xsens_msg_buf,offset) * M_PI / 180;
gps_course = (int16_t)(XSENS_DATA_Euler_yaw(xsens_msg_buf,offset) * 10);
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) {
@@ -279,8 +275,8 @@ void parse_ins_msg( void ) {
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
ins_vx = XSENS_DATA_Velocity_vx(xsens_msg_buf,offset);
ins_vy = XSENS_NED * XSENS_DATA_Velocity_vy(xsens_msg_buf,offset);
ins_vz = XSENS_NED * XSENS_DATA_Velocity_vz(xsens_msg_buf,offset);
ins_vy = XSENS_DATA_Velocity_vy(xsens_msg_buf,offset);
ins_vz = XSENS_DATA_Velocity_vz(xsens_msg_buf,offset);
#ifndef USE_VFILTER
gps_climb = (int16_t)(-ins_vz * 100);
#endif