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Taking pqr values from from.fbw.euler_dot

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jpdumont
2005-08-23 16:02:48 +00:00
parent 3e08fdec8a
commit 86c62eed5d
1 changed files with 16 additions and 4 deletions
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sw/airborne/autopilot/ahrs.c
+16 -4
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@@ -7,7 +7,6 @@
* (c) 2005 Jean-Pierre Dumont <flyingtuxATfreeDOTfr>
*/
#ifdef SECTION_IMU_ANALOG
#include <avr/io.h>
#include <avr/pgmspace.h>
@@ -18,11 +17,14 @@
#include "adc.h"
#include "ahrs.h"
#include "autopilot.h"
#include "link_fbw.h"
#ifdef PNI_MAG
#include "pni.h"
#endif //PNI_MAG
#ifdef SECTION_IMU_ANALOG
#define C_PI ((real_t) 3.14159265358979323846264338327950)
/*
@@ -927,9 +929,19 @@ static inline void
pqr_update( void )
{
//TODO : paparazzi take the mean valu of pqr
pqr[0] = adc_samples[ IMU_ADC_ROLL_DOT ] * IMU_ADC_ROLL_DOT_SIGN GYRO_SCALE;
pqr[1] = adc_samples[ IMU_ADC_PITCH_DOT ] * IMU_ADC_PITCH_DOT_SIGN GYRO_SCALE;
pqr[2] = adc_samples[ IMU_ADC_YAW_DOT ] * IMU_ADC_YAW_DOT_SIGN GYRO_SCALE;
//pqr[0] = adc_samples[ IMU_ADC_ROLL_DOT ] * IMU_ADC_ROLL_DOT_SIGN GYRO_SCALE;
//pqr[1] = adc_samples[ IMU_ADC_PITCH_DOT ] * IMU_ADC_PITCH_DOT_SIGN GYRO_SCALE;
//pqr[2] = adc_samples[ IMU_ADC_YAW_DOT ] * IMU_ADC_YAW_DOT_SIGN GYRO_SCALE;
if (link_fbw_receive_complete && link_fbw_receive_valid)
{
//Actually this valuers have to be Normalized by mcu1
//with IMU_ADC_ROLL_DOT_SIGN GYRO_SCALE...
//So we don't do it here ;-)
pqr[0] = from_fbw.euler_dot[0];
pqr[1] = from_fbw.euler_dot[1];
pqr[2] = from_fbw.euler_dot[2];
}
}