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changed IMU_MAG_OFFSET to radians

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Felix Ruess
2011-11-29 00:23:56 +01:00
parent 87905f83d7
commit 4be15501fa
6 changed files with 6 additions and 6 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -261,7 +261,7 @@
<define name="FACE_REINJ_1" value="1024"/> <define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/> <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/> <define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="-9."/> <define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
</section> </section>
<section name="GCS"> <section name="GCS">
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -230,7 +230,7 @@
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/> <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/> <define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/> <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<!--define name="IMU_MAG_OFFSET" value="-5.8"/--> <!--define name="IMU_MAG_OFFSET" value="RadOfDeg(-5.8)"/-->
</section> </section>
<section name="GCS"> <section name="GCS">
conf/airframes/ENAC/quadrotor/navgo.xml
+1 -1
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@@ -272,7 +272,7 @@
<define name="FACE_REINJ_1" value="1024"/> <define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/> <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/> <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="-9."/> <define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
</section> </section>
<section name="GCS"> <section name="GCS">
sw/airborne/modules/vehicle_interface/vi_datalink.c
+1 -1
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@@ -34,7 +34,7 @@ void vi_impl_set_enabled(bool_t enabled __attribute__ ((unused))) {
#define ViMaxHSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_H_SPEED)) #define ViMaxHSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_H_SPEED))
#define ViMaxVSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_V_SPEED)) #define ViMaxVSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_V_SPEED))
#define ViMaxHeadingRate ((int16_t)RATE_BFP_OF_REAL(RadOfDeg(VI_MAX_HEADING_RATE))) #define ViMaxHeadingRate ((int16_t)RATE_BFP_OF_REAL(VI_MAX_HEADING_RATE))
struct Int16Vect3 wp_speed_max = { ViMaxHSpeed, ViMaxHSpeed, ViMaxVSpeed }; struct Int16Vect3 wp_speed_max = { ViMaxHSpeed, ViMaxHSpeed, ViMaxVSpeed };
sw/airborne/modules/vehicle_interface/vi_datalink.h
+1 -1
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@@ -37,7 +37,7 @@
#endif #endif
#ifndef VI_MAX_HEADING_RATE #ifndef VI_MAX_HEADING_RATE
#define VI_MAX_HEADING_RATE 60. #define VI_MAX_HEADING_RATE RadOfDeg(60.)
#endif #endif
extern void vi_update_wp(uint8_t wp_id); extern void vi_update_wp(uint8_t wp_id);
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+1 -1
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@@ -261,7 +261,7 @@ __attribute__ ((always_inline)) static inline void get_psi_measurement_from_mag(
// sphi_ctheta * imu.mag.y + // sphi_ctheta * imu.mag.y +
// cphi_ctheta * imu.mag.z; // cphi_ctheta * imu.mag.z;
float m_psi = -atan2(me, mn); float m_psi = -atan2(me, mn);
*psi_meas = ((m_psi - RadOfDeg(ahrs_mag_offset))*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE); *psi_meas = ((m_psi - ahrs_mag_offset)*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE);
} }