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[apogee] IMU channel are configurable on Apogee board

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This commit is contained in:
Gautier Hattenberger
2015-11-19 15:28:47 +01:00
parent 69f8e1c6c8
commit 57773c2241
1 changed files with 21 additions and 4 deletions
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sw/airborne/boards/apogee/imu_apogee.c
+21 -4
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@@ -38,6 +38,15 @@
#include "messages.h"
#include "subsystems/datalink/downlink.h"
#ifndef IMU_APOGEE_CHAN_X
#define IMU_APOGEE_CHAN_X 0
#endif
#ifndef IMU_APOGEE_CHAN_Y
#define IMU_APOGEE_CHAN_Y 1
#endif
#ifndef IMU_APOGEE_CHAN_Z
#define IMU_APOGEE_CHAN_Z 2
#endif
#if !defined APOGEE_LOWPASS_FILTER && !defined APOGEE_SMPLRT_DIV
#define APOGEE_LOWPASS_FILTER MPU60X0_DLPF_42HZ
@@ -107,10 +116,18 @@ void imu_apogee_event(void)
// If the itg3200 I2C transaction has succeeded: convert the data
mpu60x0_i2c_event(&imu_apogee.mpu);
if (imu_apogee.mpu.data_available) {
RATES_ASSIGN(imu.gyro_unscaled, imu_apogee.mpu.data_rates.rates.p, -imu_apogee.mpu.data_rates.rates.q,
-imu_apogee.mpu.data_rates.rates.r);
VECT3_ASSIGN(imu.accel_unscaled, imu_apogee.mpu.data_accel.vect.x, -imu_apogee.mpu.data_accel.vect.y,
-imu_apogee.mpu.data_accel.vect.z);
struct Int32Rates rates = {
(int32_t)( imu_apogee.mpu.data_rates.value[IMU_APOGEE_CHAN_X]),
(int32_t)(-imu_apogee.mpu.data_rates.value[IMU_APOGEE_CHAN_Y]),
(int32_t)(-imu_apogee.mpu.data_rates.value[IMU_APOGEE_CHAN_Z])
};
RATES_COPY(imu.gyro_unscaled, rates);
struct Int32Vect3 accel = {
(int32_t)( imu_apogee.mpu.data_accel.value[IMU_APOGEE_CHAN_X]),
(int32_t)(-imu_apogee.mpu.data_accel.value[IMU_APOGEE_CHAN_Y]),
(int32_t)(-imu_apogee.mpu.data_accel.value[IMU_APOGEE_CHAN_Z])
};
VECT3_COPY(imu.accel_unscaled, accel);
imu_apogee.mpu.data_available = FALSE;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);