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[imu] Enable IMU integration and fix small mistakes

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Freek van Tienen
2022-09-20 13:51:28 +02:00
parent affcc2c2d9
commit 3e473e72a6
11 changed files with 226 additions and 180 deletions
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conf/simulator/nps/nps_sensors_params_default.h
+6 -1
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@@ -25,10 +25,15 @@
#include "generated/airframe.h"
#include "modules/imu/imu.h"
#if !defined(IMU_BODY_TO_IMU_PHI) && !defined(IMU_BODY_TO_IMU_THETA) && !defined(IMU_BODY_TO_IMU_PSI)
#define NPS_BODY_TO_IMU_PHI 0
#define NPS_BODY_TO_IMU_THETA 0
#define NPS_BODY_TO_IMU_PSI 0
#else
#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
#endif
// try to determine propagate frequency
#if defined AHRS_PROPAGATE_FREQUENCY