[paparazzi-commits] [5480] differentiated signs and channels between v1.0 and v1.1

[antoine drouin]

Revision: 5480
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5480
Author:   poine
Date:     2010-08-19 14:17:24 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
differentiated signs and channels between v1.0 and v1.1

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

Modified: paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h 2010-08-19 14:12:12 UTC 
(rev 5479)
+++ paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_b2.h 2010-08-19 14:17:24 UTC 
(rev 5480)
@@ -34,6 +34,8 @@
 #define IMU_B2_MAG_MS2001 1
 #define IMU_B2_MAG_AMI601 2
 
+
+#ifdef IMU_B2_VERSION_1_0
 /* Default IMU b2 sensors connection */
 #if !defined IMU_GYRO_P_CHAN & !defined IMU_GYRO_Q_CHAN & !defined 
IMU_GYRO_R_CHAN
 #define IMU_GYRO_P_CHAN  1
@@ -51,7 +53,42 @@
 #define IMU_MAG_Z_CHAN   2
 #endif
 
+#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
+#endif /* IMU_B2_VERSION_1_0 */
 
+
+#ifdef IMU_B2_VERSION_1_1
+/* Default IMU b2 sensors connection */
+#if !defined IMU_GYRO_P_CHAN & !defined IMU_GYRO_Q_CHAN & !defined 
IMU_GYRO_R_CHAN
+#define IMU_GYRO_P_CHAN  1
+#define IMU_GYRO_Q_CHAN  0
+#define IMU_GYRO_R_CHAN  2
+#endif
+#if !defined IMU_ACCEL_X_CHAN & !defined IMU_ACCEL_Y_CHAN & !defined 
IMU_ACCEL_Z_CHAN
+#define IMU_ACCEL_X_CHAN 5
+#define IMU_ACCEL_Y_CHAN 3
+#define IMU_ACCEL_Z_CHAN 4
+#endif
+#if !defined IMU_MAG_X_CHAN & !defined IMU_MAG_Y_CHAN & !defined IMU_MAG_Z_CHAN
+#define IMU_MAG_X_CHAN   0
+#define IMU_MAG_Y_CHAN   1
+#define IMU_MAG_Z_CHAN   2
+#endif
+
 #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
@@ -67,8 +104,12 @@
 #define IMU_MAG_Y_SIGN   -1
 #define IMU_MAG_Z_SIGN   -1
 #endif
+#endif /* IMU_B2_VERSION_1_1 */
 
 
+
+
+
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
 #include "peripherals/booz_ms2001.h"
 #define BoozImuMagEvent(_mag_handler) {                                        
\