You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
36 lines
1.2 KiB
36 lines
1.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#include <AP_HAL.h> |
|
#include "AP_InertialSensor.h" |
|
#include "AP_InertialSensor_Backend.h" |
|
|
|
AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) : |
|
_imu(imu) |
|
{} |
|
|
|
/* |
|
rotate gyro vector and add the gyro offset |
|
*/ |
|
void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro, uint32_t now) |
|
{ |
|
_imu._gyro[instance] = gyro; |
|
_imu._gyro[instance].rotate(_imu._board_orientation); |
|
_imu._gyro[instance] -= _imu._gyro_offset[instance]; |
|
_imu._last_gyro_sample_time_usec[instance] = now; |
|
} |
|
|
|
/* |
|
rotate accel vector, scale and add the accel offset |
|
*/ |
|
void AP_InertialSensor_Backend::_rotate_and_offset_accel(uint8_t instance, const Vector3f &accel, uint32_t now) |
|
{ |
|
_imu._accel[instance] = accel; |
|
_imu._accel[instance].rotate(_imu._board_orientation); |
|
|
|
const Vector3f &accel_scale = _imu._accel_scale[instance].get(); |
|
_imu._accel[instance].x *= accel_scale.x; |
|
_imu._accel[instance].y *= accel_scale.y; |
|
_imu._accel[instance].z *= accel_scale.z; |
|
_imu._accel[instance] -= _imu._accel_offset[instance]; |
|
_imu._last_accel_sample_time_usec[instance] = now; |
|
}
|
|
|