From 351d53836e201834a2d89773a08ab7c2dab2b2f4 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 25 Oct 2013 04:34:16 -0700 Subject: 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 --- src/test/ao_flight_test.c | 10 ++++++++++ 1 file changed, 10 insertions(+) (limited to 'src/test') diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index e2f63e34..7f18c80e 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -234,6 +234,9 @@ struct ao_config { uint16_t apogee_lockout; #if TELEMEGA struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ + int16_t accel_zero_along; + int16_t accel_zero_across; + int16_t accel_zero_through; #endif }; @@ -719,6 +722,13 @@ ao_sleep(void *wchan) } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { ao_config.accel_plus_g = atoi(words[3]); ao_config.accel_minus_g = atoi(words[5]); +#ifdef TELEMEGA + } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) { + ao_config.accel_zero_along = atoi(words[3]); + ao_config.accel_zero_across = atoi(words[5]); + ao_config.accel_zero_through = atoi(words[7]); + printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through); +#endif } else if (nword >= 4 && strcmp(words[0], "Main") == 0) { ao_config.main_deploy = atoi(words[2]); } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 && -- cgit v1.2.3