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nps: fill imu_aspirin accel and gyro buffers from imu_feed_gyro_accel

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This commit is contained in:
Felix Ruess
2012-02-05 18:07:31 +01:00
parent b380e75253
commit d6d49485b4
2 changed files with 31 additions and 12 deletions
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conf/airframes/fraser_lisa_m_rotorcraft.xml
+1 -1
View File
@@ -201,7 +201,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin.h&quot;"/>
</section>
<section name="AUTOPILOT">
sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c
+30 -11
View File
@@ -34,18 +34,37 @@ void imu_aspirin_arch_init(void) {
void imu_feed_gyro_accel(void) {
/* do something similar to this, fill imu_aspirin.i2c_trans_gyro and
* imu_aspirin.accel_rx_buf
*/
#if 0
max1168_values[IMU_GYRO_P_CHAN] = sensors.gyro.value.x;
max1168_values[IMU_GYRO_Q_CHAN] = sensors.gyro.value.y;
max1168_values[IMU_GYRO_R_CHAN] = sensors.gyro.value.z;
max1168_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
max1168_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
max1168_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
max1168_status = STA_MAX1168_DATA_AVAILABLE;
#if 1
// the high byte is in buf[0], low byte in buf[1], etc.
imu_aspirin.i2c_trans_gyro.buf[0] = ((int16_t)sensors.gyro.value.x) >> 8;
imu_aspirin.i2c_trans_gyro.buf[1] = ((int16_t)sensors.gyro.value.x) & 0xff;
imu_aspirin.i2c_trans_gyro.buf[2] = ((int16_t)sensors.gyro.value.y) >> 8;
imu_aspirin.i2c_trans_gyro.buf[3] = ((int16_t)sensors.gyro.value.y) & 0xff;
imu_aspirin.i2c_trans_gyro.buf[4] = ((int16_t)sensors.gyro.value.z) >> 8;
imu_aspirin.i2c_trans_gyro.buf[5] = ((int16_t)sensors.gyro.value.z) & 0xff;
// low byte in buf[1], high byte in buf[2], etc...
imu_aspirin.accel_rx_buf[1] = ((int16_t)sensors.accel.value.x) & 0xff;
imu_aspirin.accel_rx_buf[2] = ((int16_t)sensors.accel.value.x) >> 8;
imu_aspirin.accel_rx_buf[3] = ((int16_t)sensors.accel.value.y) & 0xff;
imu_aspirin.accel_rx_buf[4] = ((int16_t)sensors.accel.value.y) >> 8;
imu_aspirin.accel_rx_buf[5] = ((int16_t)sensors.accel.value.z) & 0xff;
imu_aspirin.accel_rx_buf[6] = ((int16_t)sensors.accel.value.z) >> 8;
// set availability flags...
imu_aspirin.accel_available = true;
#else
RATES_ASSIGN(imu.gyro_unscaled, sensors.gyro.value.x, sensors.gyro.value.y, sensors.gyro.value.z);
VECT3_ASSIGN(imu.accel_unscaled, sensors.accel.value.x, sensors.accel.value.y, sensors.accel.value.z);
// set availability flags...
imu_aspirin.accel_available = true;
imu_aspirin.gyro_available_blaaa = true;
#endif
}