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From: | Chris |
Subject: | [Paparazzi-devel] Reply to:"Re: Warning possible bug in "ins_arduimu.c" (Steve Joyce) |
Date: | Fri, 18 Feb 2011 21:24:34 +0200 |
User-agent: | Mozilla/5.0 (X11; U; Linux i686; en-US; rv:1.9.2.13) Gecko/20101208 Thunderbird/3.1.7 |
Just to supplement my thoughts i think that there is no error in arduimu.c file it is just that the units are get mixed from the definitions inside the airframe file:
<section name="INS" prefix="INS_"> <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/> </section> It should probably read: <section name="INS" prefix="INS_"> <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/> <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="radians"/> </section>or perform the conversion in the initialization of the arduimu code like you said.
Also the settings file should change the pitch and roll neutrals in degrees like this:
<dl_settings NAME="ins"><dl_setting MAX="10." MIN="-10." STEP="0.1" VAR="ins_roll_neutral" shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/> <dl_setting MAX="10." MIN="-10." STEP="0.1" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
</dl_settings> Chris
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