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[imu] apply signs corrections on default configurations

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only needed for single imu config
This commit is contained in:
Gautier Hattenberger
2022-10-06 14:29:14 +02:00
parent 2a580c0c7e
commit 5b5604250c
1 changed files with 6 additions and 6 deletions
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sw/airborne/modules/imu/imu.c
+6 -6
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@@ -303,7 +303,7 @@ void imu_init(void)
INT_RATES_ZERO(imu.gyros[i].neutral);
}
if(!imu.gyros[i].calibrated.scale) {
RATES_ASSIGN(imu.gyros[i].scale[0], 1, 1, 1);
RATES_ASSIGN(imu.gyros[i].scale[0], IMU_GYRO_P_SIGN, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SIGN);
RATES_ASSIGN(imu.gyros[i].scale[1], 1, 1, 1);
}
if(!imu.gyros[i].calibrated.rotation) {
@@ -329,7 +329,7 @@ void imu_init(void)
INT_VECT3_ZERO(imu.accels[i].neutral);
}
if(!imu.accels[i].calibrated.scale) {
VECT3_ASSIGN(imu.accels[i].scale[0], 1, 1, 1);
VECT3_ASSIGN(imu.accels[i].scale[0], IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SIGN);
VECT3_ASSIGN(imu.accels[i].scale[1], 1, 1, 1);
}
if(!imu.accels[i].calibrated.rotation) {
@@ -356,7 +356,7 @@ void imu_init(void)
INT_VECT3_ZERO(imu.mags[i].neutral);
}
if(!imu.mags[i].calibrated.scale) {
VECT3_ASSIGN(imu.mags[i].scale[0], 1, 1, 1);
VECT3_ASSIGN(imu.mags[i].scale[0], IMU_MAG_X_SIGN, IMU_MAG_Y_SIGN, IMU_MAG_Z_SIGN);
VECT3_ASSIGN(imu.mags[i].scale[1], 1, 1, 1);
}
if(!imu.mags[i].calibrated.rotation) {
@@ -415,7 +415,7 @@ void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor
if(neutral != NULL && !gyro->calibrated.neutral)
RATES_COPY(gyro->neutral, *neutral);
if(scale != NULL && !gyro->calibrated.scale) {
RATES_COPY(gyro->scale[0], scale[0]);
RATES_ASSIGN(gyro->scale[0], IMU_GYRO_P_SIGN*scale[0].p, IMU_GYRO_Q_SIGN*scale[0].q, IMU_GYRO_R_SIGN*scale[0].r);
RATES_COPY(gyro->scale[1], scale[1]);
}
}
@@ -445,7 +445,7 @@ void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_senso
if(neutral != NULL && !accel->calibrated.neutral)
VECT3_COPY(accel->neutral, *neutral);
if(scale != NULL && !accel->calibrated.scale) {
VECT3_COPY(accel->scale[0], scale[0]);
VECT3_ASSIGN(accel->scale[0], IMU_ACCEL_X_SIGN*scale[0].x, IMU_ACCEL_Y_SIGN*scale[0].y, IMU_ACCEL_Z_SIGN*scale[0].z);
VECT3_COPY(accel->scale[1], scale[1]);
}
}
@@ -475,7 +475,7 @@ void imu_set_defaults_mag(uint8_t abi_id, const struct Int32RMat *imu_to_sensor,
if(neutral != NULL && !mag->calibrated.neutral)
VECT3_COPY(mag->neutral, *neutral);
if(scale != NULL && !mag->calibrated.scale) {
VECT3_COPY(mag->scale[0], scale[0]);
VECT3_ASSIGN(mag->scale[0], IMU_MAG_X_SIGN*scale[0].x, IMU_MAG_Y_SIGN*scale[0].y, IMU_MAG_Z_SIGN*scale[0].z);
VECT3_COPY(mag->scale[1], scale[1]);
}
}