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added default axis and sign

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This commit is contained in:
Antoine Drouin
2010-07-26 21:20:54 +00:00
parent 20159ee77b
commit d82f07610b
1 changed files with 13 additions and 0 deletions
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sw/airborne/booz/imu/booz_imu_b2.h
+13
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@@ -34,6 +34,19 @@
#define IMU_B2_MAG_MS2001 1
#define IMU_B2_MAG_AMI601 2
/* Default IMU b2 sensors connection */
#ifndef IMU_OVERRIDE_CHANNELS
#define IMU_GYRO_P_CHAN 1
#define IMU_GYRO_Q_CHAN 0
#define IMU_GYRO_R_CHAN 2
#define IMU_ACCEL_X_CHAN 5
#define IMU_ACCEL_Y_CHAN 3
#define IMU_ACCEL_Z_CHAN 4
#define IMU_MAG_X_CHAN 0
#define IMU_MAG_Y_CHAN 1
#define IMU_MAG_Z_CHAN 2
#endif /* not IMU_OVERRIDE_CHANNELS */
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
#define IMU_GYRO_P_SIGN 1
#define IMU_GYRO_Q_SIGN -1