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[imu][aspirin_2_spi] clear naming for mag axes assignment

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This commit is contained in:
Felix Ruess
2013-07-10 17:49:37 +02:00
parent 76ea104701
commit e56f1888b1
1 changed files with 5 additions and 4 deletions
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sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
+5 -4
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@@ -145,10 +145,11 @@ void imu_aspirin2_event(void)
{ {
mpu60x0_spi_event(&imu_aspirin2.mpu); mpu60x0_spi_event(&imu_aspirin2.mpu);
if (imu_aspirin2.mpu.data_available) { if (imu_aspirin2.mpu.data_available) {
/* HMC5883 has xzy order of axes in returned data */
struct Int32Vect3 mag; struct Int32Vect3 mag;
mag.x = Int16FromBuf(imu_aspirin2.mpu.data_ext, 0); mag.x = Int16FromBuf(imu_aspirin2.mpu.data_ext, 0);
mag.y = Int16FromBuf(imu_aspirin2.mpu.data_ext, 2); mag.z = Int16FromBuf(imu_aspirin2.mpu.data_ext, 2);
mag.z = Int16FromBuf(imu_aspirin2.mpu.data_ext, 4); mag.y = Int16FromBuf(imu_aspirin2.mpu.data_ext, 4);
#ifdef LISA_M_LONGITUDINAL_X #ifdef LISA_M_LONGITUDINAL_X
RATES_ASSIGN(imu.gyro_unscaled, RATES_ASSIGN(imu.gyro_unscaled,
imu_aspirin2.mpu.data_rates.rates.q, imu_aspirin2.mpu.data_rates.rates.q,
@@ -158,11 +159,11 @@ void imu_aspirin2_event(void)
imu_aspirin2.mpu.data_accel.vect.y, imu_aspirin2.mpu.data_accel.vect.y,
-imu_aspirin2.mpu.data_accel.vect.x, -imu_aspirin2.mpu.data_accel.vect.x,
imu_aspirin2.mpu.data_accel.vect.z); imu_aspirin2.mpu.data_accel.vect.z);
VECT3_ASSIGN(imu.mag_unscaled, -mag.x, -mag.z, mag.y); VECT3_ASSIGN(imu.mag_unscaled, -mag.x, -mag.y, mag.z);
#else #else
RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates); RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect); VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
VECT3_ASSIGN(imu.mag_unscaled, mag.z, -mag.x, mag.y) VECT3_ASSIGN(imu.mag_unscaled, mag.y, -mag.x, mag.z)
#endif #endif
imu_aspirin2.mpu.data_available = FALSE; imu_aspirin2.mpu.data_available = FALSE;
imu_aspirin2.gyro_valid = TRUE; imu_aspirin2.gyro_valid = TRUE;