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[nps] imu sensors: take sign into account

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This commit is contained in:
Felix Ruess
2015-03-09 14:58:51 +01:00
parent ca87b38983
commit 9797c2998d
2 changed files with 18 additions and 18 deletions
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conf/simulator/nps/nps_sensors_params_default.h
+9 -9
View File
@@ -38,9 +38,9 @@
#define NPS_ACCEL_MAX 4095
/* ms-2 */
/* aka 2^10/ACCEL_X_SENS */
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#define NPS_ACCEL_SENSITIVITY_XX IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#define NPS_ACCEL_SENSITIVITY_YY IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#define NPS_ACCEL_SENSITIVITY_ZZ IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL
@@ -66,9 +66,9 @@
#define NPS_GYRO_MAX 32767
/* 2^12/GYRO_X_SENS */
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#define NPS_GYRO_SENSITIVITY_PP IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#define NPS_GYRO_SENSITIVITY_QQ IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#define NPS_GYRO_SENSITIVITY_RR IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL
@@ -101,9 +101,9 @@
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#define NPS_MAG_SENSITIVITY_XX IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#define NPS_MAG_SENSITIVITY_YY IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#define NPS_MAG_SENSITIVITY_ZZ IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL
conf/simulator/nps/nps_sensors_params_invariant.h
+9 -9
View File
@@ -38,9 +38,9 @@
#define NPS_ACCEL_MAX 32767
/* ms-2 */
/* aka 2^10/ACCEL_X_SENS */
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#define NPS_ACCEL_SENSITIVITY_XX IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#define NPS_ACCEL_SENSITIVITY_YY IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#define NPS_ACCEL_SENSITIVITY_ZZ IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL
@@ -66,9 +66,9 @@
#define NPS_GYRO_MAX 32767
/* 2^12/GYRO_X_SENS */
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#define NPS_GYRO_SENSITIVITY_PP IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#define NPS_GYRO_SENSITIVITY_QQ IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#define NPS_GYRO_SENSITIVITY_RR IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL
@@ -101,9 +101,9 @@
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#define NPS_MAG_SENSITIVITY_XX IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#define NPS_MAG_SENSITIVITY_YY IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#define NPS_MAG_SENSITIVITY_ZZ IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL