[paparazzi-commits] [6109] revert 6103

[Allen Ibara]

Revision: 6109
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6109
Author:   aibara
Date:     2010-10-08 06:31:15 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
revert 6103

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.h

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.h     2010-10-08 
06:19:23 UTC (rev 6108)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.h     2010-10-08 
06:31:15 UTC (rev 6109)
@@ -83,11 +83,21 @@
     _imu.accel.z = ((_imu.accel_unscaled.z - 
_imu.accel_neutral.z)*IMU_ACCEL_Z_SIGN*IMU_ACCEL_Z_SENS_NUM)/IMU_ACCEL_Z_SENS_DEN;
 \
   }
 
+#if defined IMU_MAG_45_HACK
 #define ImuScaleMag(_imu) {                                            \
+    int32_t msx = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN 
* IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
+    int32_t msy = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN 
* IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
+    _imu.mag.x = msx - msy;                                            \
+    _imu.mag.y = msx + msy;                                            \
+    _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN 
* IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
+  }
+#else
+#define ImuScaleMag(_imu) {                                            \
     _imu.mag.x = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN 
* IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
     _imu.mag.y = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN 
* IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
     _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN 
* IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
   }
+#endif
 
 
 #endif /* IMU_H */