diff options
| author | Keith Packard <keithp@keithp.com> | 2013-10-25 04:34:16 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-10-25 04:34:16 -0700 |
| commit | 351d53836e201834a2d89773a08ab7c2dab2b2f4 (patch) | |
| tree | 599b180bc18e690496091dd335d8fa7731400b86 /src/core/ao_sample.c | |
| parent | 08143a922fe27bc50a19924f46538f9476ab5fd1 (diff) | |
altos: Calibrate IMU accelerometers too
Average the IMU accelerometer values pointing up and down so that we
have a zero-g offset for all three axes. This can then be used to
compute which direction the rocket is pointing while sitting on the pad.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/core/ao_sample.c')
| -rw-r--r-- | src/core/ao_sample.c | 15 |
1 files changed, 6 insertions, 9 deletions
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c index 676e0ffd..a9d50cb2 100644 --- a/src/core/ao_sample.c +++ b/src/core/ao_sample.c @@ -139,19 +139,16 @@ ao_sample_preflight_set(void) /* No rotation yet */ ao_quaternion_init_zero_rotation(&ao_rotation); - /* XXX Assume we're pointing straight up for now */ + /* Take the pad IMU acceleration values and compute our current direction + */ ao_quaternion_init_vector(&ao_pad_orientation, - ao_ground_accel_across, - ao_ground_accel_through, - -ao_ground_accel_along); + ao_ground_accel_across - ao_config.accel_zero_across, + ao_ground_accel_through - ao_config.accel_zero_through, + -ao_ground_accel_along - ao_config.accel_zero_along); + ao_quaternion_normalize(&ao_pad_orientation, &ao_pad_orientation); - printf ("pad r%8.5f x%8.5f y%8.5f z%8.5f\n", - ao_pad_orientation.r, - ao_pad_orientation.x, - ao_pad_orientation.y, - ao_pad_orientation.z); #endif nsamples = 0; } |