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changing scale factors

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This commit is contained in:
cTn 2014-01-26 00:30:07 +01:00
parent 0f0e56e0b0
commit 8c95ee1ca7
2 changed files with 16 additions and 10 deletions
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18
js/msp.js
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@ -219,15 +219,19 @@ function process_data(command, message_buffer, message_length_expected) {
$('span.cycle-time').html(CONFIG.cycleTime);
break;
case MSP_codes.MSP_RAW_IMU:
SENSOR_DATA.accelerometer[0] = data.getInt16(0, 1) / 1000; // properly scaled
SENSOR_DATA.accelerometer[1] = data.getInt16(2, 1) / 1000;
SENSOR_DATA.accelerometer[2] = data.getInt16(4, 1) / 1000;
// 512 for mpu6050, 256 for mma
// currently we are unable to differentiate between the sensor types, so we are goign with 512
SENSOR_DATA.accelerometer[0] = data.getInt16(0, 1) / 512;
SENSOR_DATA.accelerometer[1] = data.getInt16(2, 1) / 512;
SENSOR_DATA.accelerometer[2] = data.getInt16(4, 1) / 512;
SENSOR_DATA.gyroscope[0] = data.getInt16(6, 1) / 8; // no clue about scaling factor
SENSOR_DATA.gyroscope[1] = data.getInt16(8, 1) / 8;
SENSOR_DATA.gyroscope[2] = data.getInt16(10, 1) / 8;
// properly scaled
SENSOR_DATA.gyroscope[0] = data.getInt16(6, 1) * (4 / 16.4);
SENSOR_DATA.gyroscope[1] = data.getInt16(8, 1) * (4 / 16.4);
SENSOR_DATA.gyroscope[2] = data.getInt16(10, 1) * (4 / 16.4);
SENSOR_DATA.magnetometer[0] = data.getInt16(12, 1) / 3; // no clue about scaling factor
// no clue about scaling factor
SENSOR_DATA.magnetometer[0] = data.getInt16(12, 1) / 3;
SENSOR_DATA.magnetometer[1] = data.getInt16(14, 1) / 3;
SENSOR_DATA.magnetometer[2] = data.getInt16(16, 1) / 3;
break;