[paparazzi-commits] [5041] added new define for SIGN to allow using positive scale factors only

[antoine drouin]

Revision: 5041
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5041
Author:   poine
Date:     2010-07-12 13:43:16 +0000 (Mon, 12 Jul 2010)
Log Message:
-----------
added new define for SIGN to allow using positive scale factors only

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz_imu.h
    paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h

Modified: paparazzi3/trunk/sw/airborne/booz/booz_imu.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_imu.h        2010-07-12 13:41:12 UTC 
(rev 5040)
+++ paparazzi3/trunk/sw/airborne/booz/booz_imu.h        2010-07-12 13:43:16 UTC 
(rev 5041)
@@ -69,32 +69,32 @@
 
 #define BoozImuScaleGyro() {                                           \
     RATES_COPY(booz_imu.gyro_prev, booz_imu.gyro);                     \
-    booz_imu.gyro.p = ((booz_imu.gyro_unscaled.p - 
booz_imu.gyro_neutral.p)*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
-    booz_imu.gyro.q = ((booz_imu.gyro_unscaled.q - 
booz_imu.gyro_neutral.q)*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
-    booz_imu.gyro.r = ((booz_imu.gyro_unscaled.r - 
booz_imu.gyro_neutral.r)*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN; \
+    booz_imu.gyro.p = ((booz_imu.gyro_unscaled.p - 
booz_imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN;
 \
+    booz_imu.gyro.q = ((booz_imu.gyro_unscaled.q - 
booz_imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN;
 \
+    booz_imu.gyro.r = ((booz_imu.gyro_unscaled.r - 
booz_imu.gyro_neutral.r)*IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN;
 \
   }
 
 
 #define BoozImuScaleAccel() {                                          \
     VECT3_COPY(booz_imu.accel_prev, booz_imu.accel);                   \
-    booz_imu.accel.x = ((booz_imu.accel_unscaled.x - 
booz_imu.accel_neutral.x)*IMU_ACCEL_X_SENS_NUM)/IMU_ACCEL_X_SENS_DEN; \
-    booz_imu.accel.y = ((booz_imu.accel_unscaled.y - 
booz_imu.accel_neutral.y)*IMU_ACCEL_Y_SENS_NUM)/IMU_ACCEL_Y_SENS_DEN; \
-    booz_imu.accel.z = ((booz_imu.accel_unscaled.z - 
booz_imu.accel_neutral.z)*IMU_ACCEL_Z_SENS_NUM)/IMU_ACCEL_Z_SENS_DEN; \
+    booz_imu.accel.x = ((booz_imu.accel_unscaled.x - 
booz_imu.accel_neutral.x)*IMU_ACCEL_X_SIGN*IMU_ACCEL_X_SENS_NUM)/IMU_ACCEL_X_SENS_DEN;
 \
+    booz_imu.accel.y = ((booz_imu.accel_unscaled.y - 
booz_imu.accel_neutral.y)*IMU_ACCEL_Y_SIGN*IMU_ACCEL_Y_SENS_NUM)/IMU_ACCEL_Y_SENS_DEN;
 \
+    booz_imu.accel.z = ((booz_imu.accel_unscaled.z - 
booz_imu.accel_neutral.z)*IMU_ACCEL_Z_SIGN*IMU_ACCEL_Z_SENS_NUM)/IMU_ACCEL_Z_SENS_DEN;
 \
   }
 
 #if defined IMU_MAG_45_HACK
 #define BoozImuScaleMag() {                                            \
-    int32_t msx = ((booz_imu.mag_unscaled.x - booz_imu.mag_neutral.x) * 
IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
-    int32_t msy = ((booz_imu.mag_unscaled.y - booz_imu.mag_neutral.y) * 
IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
+    int32_t msx = ((booz_imu.mag_unscaled.x - booz_imu.mag_neutral.x) * 
IMU_MAG_X_SIGN * IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
+    int32_t msy = ((booz_imu.mag_unscaled.y - booz_imu.mag_neutral.y) * 
IMU_MAG_Y_SIGN * IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
     booz_imu.mag.x = msx - msy;                                        \
     booz_imu.mag.y = msx + msy;                                        \
-    booz_imu.mag.z = ((booz_imu.mag_unscaled.z - booz_imu.mag_neutral.z) * 
IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
+    booz_imu.mag.z = ((booz_imu.mag_unscaled.z - booz_imu.mag_neutral.z) * 
IMU_MAG_Z_SIGN * IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
   }
 #else
 #define BoozImuScaleMag() {                                    \
-    booz_imu.mag.x = ((booz_imu.mag_unscaled.x - booz_imu.mag_neutral.x) * 
IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
-    booz_imu.mag.y = ((booz_imu.mag_unscaled.y - booz_imu.mag_neutral.y) * 
IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
-    booz_imu.mag.z = ((booz_imu.mag_unscaled.z - booz_imu.mag_neutral.z) * 
IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
+    booz_imu.mag.x = ((booz_imu.mag_unscaled.x - booz_imu.mag_neutral.x) * 
IMU_MAG_X_SIGN * IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
+    booz_imu.mag.y = ((booz_imu.mag_unscaled.y - booz_imu.mag_neutral.y) * 
IMU_MAG_Y_SIGN * IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
+    booz_imu.mag.z = ((booz_imu.mag_unscaled.z - booz_imu.mag_neutral.z) * 
IMU_MAG_Z_SIGN * IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
   }
 #endif
 

Modified: paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h 2010-07-12 13:41:12 UTC 
(rev 5040)
+++ paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h 2010-07-12 13:43:16 UTC 
(rev 5041)
@@ -28,10 +28,28 @@
 
 #include "peripherals/booz_max1168.h"
 
+/* type of magnetometer */
 #define IMU_B2_MAG_NONE   0
 #define IMU_B2_MAG_MS2001 1
 #define IMU_B2_MAG_AMI601 2
 
+#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined 
IMU_GYRO_R_SIGN
+#define IMU_GYRO_P_SIGN   1
+#define IMU_GYRO_Q_SIGN  -1
+#define IMU_GYRO_R_SIGN  -1
+#endif
+#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined 
IMU_ACCEL_Z_SIGN
+#define IMU_ACCEL_X_SIGN -1
+#define IMU_ACCEL_Y_SIGN -1
+#define IMU_ACCEL_Z_SIGN -1
+#endif
+#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
+#define IMU_MAG_X_SIGN    1
+#define IMU_MAG_Y_SIGN   -1
+#define IMU_MAG_Z_SIGN   -1
+#endif
+
+
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
 #include "peripherals/booz_ms2001.h"
 #define BoozImuMagEvent(_mag_handler) {                                        
\