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From: | Felix Ruess |
Subject: | Re: [Paparazzi-devel] KROOZ_SD compass problem |
Date: | Mon, 2 Sep 2013 14:33:53 +0200 |
Hello Sergey,
when i installed my new laptop with updated PPZ repo the compass not work fine.
This is the original repo MAG axis order:Here are my MAG Axis order and it work fine:VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.z, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.y);
VECT3_ASSIGN(imu.mag_unscaled, -imu_krooz.hmc.data.vect.y, imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
BTW, i added the option "UP_SD" in imu_krooz_c.h because i use the board in up-side down position.
// Default configuration
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
#ifdef IMU_KROOZ_UPSD
#define IMU_GYRO_P_SIGN -1
#define IMU_GYRO_Q_SIGN 1
#define IMU_GYRO_R_SIGN -1
#else
#define IMU_GYRO_P_SIGN 1
#define IMU_GYRO_Q_SIGN 1
#define IMU_GYRO_R_SIGN 1
#endif
#endif
#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
#ifdef IMU_KROOZ_UPSD
#define IMU_ACCEL_X_SIGN -1
#define IMU_ACCEL_Y_SIGN 1
#define IMU_ACCEL_Z_SIGN -1
#else
#define IMU_ACCEL_X_SIGN 1
#define IMU_ACCEL_Y_SIGN 1
#define IMU_ACCEL_Z_SIGN 1
#endif
#endif
#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
#ifdef IMU_KROOZ_UPSD
#define IMU_MAG_X_SIGN 1
#define IMU_MAG_Y_SIGN -1
#define IMU_MAG_Z_SIGN -1
#else
#define IMU_MAG_X_SIGN 1
#define IMU_MAG_Y_SIGN 1
#define IMU_MAG_Z_SIGN 1
#endif
#endif
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