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make it possible to define custom (or empty) handlers for ImuScale[Gyro|Accel]

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This commit is contained in:
Felix Ruess
2011-10-31 17:14:57 +01:00
parent 0d9bf23508
commit 955379d7f0
1 changed files with 4 additions and 0 deletions
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sw/airborne/subsystems/imu.h
+4
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@@ -70,20 +70,24 @@ extern struct Imu imu;
extern void imu_init(void);
#ifndef ImuScaleGyro
#define ImuScaleGyro(_imu) { \
RATES_COPY(_imu.gyro_prev, _imu.gyro); \
_imu.gyro.p = ((_imu.gyro_unscaled.p - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
_imu.gyro.q = ((_imu.gyro_unscaled.q - _imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
_imu.gyro.r = ((_imu.gyro_unscaled.r - _imu.gyro_neutral.r)*IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN; \
}
#endif
#ifndef ImuScaleAccel
#define ImuScaleAccel(_imu) { \
VECT3_COPY(_imu.accel_prev, _imu.accel); \
_imu.accel.x = ((_imu.accel_unscaled.x - _imu.accel_neutral.x)*IMU_ACCEL_X_SIGN*IMU_ACCEL_X_SENS_NUM)/IMU_ACCEL_X_SENS_DEN; \
_imu.accel.y = ((_imu.accel_unscaled.y - _imu.accel_neutral.y)*IMU_ACCEL_Y_SIGN*IMU_ACCEL_Y_SENS_NUM)/IMU_ACCEL_Y_SENS_DEN; \
_imu.accel.z = ((_imu.accel_unscaled.z - _imu.accel_neutral.z)*IMU_ACCEL_Z_SIGN*IMU_ACCEL_Z_SENS_NUM)/IMU_ACCEL_Z_SENS_DEN; \
}
#endif
#if defined IMU_MAG_45_HACK
#define ImuScaleMag(_imu) { \