Re: [Paparazzi-devel] Temperature compensation of rate sensors

[Chris]

Hi.
I think there is a typo error.
When i tried to compile it first time i got errors saying that structure imu does not have a member
named "temp" which is correct of course since the declaration of "temp" is in the "ImuFloat"

struct ImuFloat {
  struct FloatRates   gyro;
  float  temp;
  struct FloatVect3   accel;

_imu.gyro.p = ((_imu.gyro_unscaled.p +(TREF-imu.temp)*DXG -

Chris

On 03/15/2013 12:34 AM, address@hidden wrote:

/** abstract IMU interface providing floating point interface  */
struct ImuFloat {
  struct FloatRates   gyro;
  float  temp;
  struct FloatVect3   accel;


**************************************** line  103
   RATES_COPY(_imu.gyro_prev, _imu.gyro);                               \
    _imu.gyro.p = ((_imu.gyro_unscaled.p +(TREF-imu.temp)*DXG -
_imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN;
\
    _imu.gyro.q = ((_imu.gyro_unscaled.q +(TREF-imu.temp)*DYG-
_imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN;
\
    _imu.gyro.r = ((_imu.gyro_unscaled.r +(TREF-imu.temp)*DZG -
_imu.gyro_neutral.r)*IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN;
\
  }
#endif