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From: | Chris |
Subject: | Re: [Paparazzi-devel] Temperature compensation of rate sensors |
Date: | Fri, 15 Mar 2013 08:07:24 +0200 |
User-agent: | Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130308 Thunderbird/17.0.4 |
Hi.
I think there is a typo error. When i tried to compile it first time i got errors saying that structure imu does not have a member named "temp" which is correct of course since the declaration of "temp" is in the "ImuFloat" struct ImuFloat { struct FloatRates gyro; float temp; struct FloatVect3 accel; _imu.gyro.p = ((_imu.gyro_unscaled.p +(TREF-imu.temp)*DXG - Chris On 03/15/2013 12:34 AM, address@hidden wrote: /** abstract IMU interface providing floating point interface */ struct ImuFloat { struct FloatRates gyro; float temp; struct FloatVect3 accel; **************************************** line 103 RATES_COPY(_imu.gyro_prev, _imu.gyro); \ _imu.gyro.p = ((_imu.gyro_unscaled.p +(TREF-imu.temp)*DXG - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \ _imu.gyro.q = ((_imu.gyro_unscaled.q +(TREF-imu.temp)*DYG- _imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \ _imu.gyro.r = ((_imu.gyro_unscaled.r +(TREF-imu.temp)*DZG - _imu.gyro_neutral.r)*IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN; \ } #endif |
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