From f0068719b17019c5cd7ed318364a0581caf64e1a Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 2 Dec 2017 15:32:38 -0600 Subject: altos/kernel: MPU9250 support Use MPU9250 for accel, gyro and mag data in logging, telemetry and flight status computations. Signed-off-by: Keith Packard --- src/kernel/ao_sample.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/kernel/ao_sample.c') diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index f0ab0169..61519478 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -184,9 +184,9 @@ ao_sample_rotate(void) #else static const float dt = 1/TIME_DIV; #endif - float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt; - float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt; - float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt; + float x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt; + float y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt; + float z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt; struct ao_quaternion rot; ao_quaternion_init_half_euler(&rot, x, y, z); -- cgit v1.2.3