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Avionics
Software Development
On-Board Software
Commits
84cfa2ba
Commit
84cfa2ba
authored
11 months ago
by
Davide Mor
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[Main] Added simple way of disabling calibrations
parent
70a6bd8a
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1 merge request
!36
[Main] Merge Main OBSW
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src/boards/Main/Configs/SensorsConfig.h
+3
-0
3 additions, 0 deletions
src/boards/Main/Configs/SensorsConfig.h
src/boards/Main/Sensors/Sensors.cpp
+6
-2
6 additions, 2 deletions
src/boards/Main/Sensors/Sensors.cpp
with
9 additions
and
2 deletions
src/boards/Main/Configs/SensorsConfig.h
+
3
−
0
View file @
84cfa2ba
...
...
@@ -164,6 +164,9 @@ constexpr bool ENABLED = true;
namespace
IMU
{
constexpr
bool
USE_CALIBRATED_LIS2MDL
=
true
;
constexpr
bool
USE_CALIBRATED_LSM6DSRX
=
true
;
constexpr
Hertz
RATE
=
50
_hz
;
constexpr
bool
ENABLED
=
true
;
}
// namespace IMU
...
...
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src/boards/Main/Sensors/Sensors.cpp
+
6
−
2
View file @
84cfa2ba
...
...
@@ -691,8 +691,12 @@ void Sensors::rotatedImuInit()
rotatedImu
=
std
::
make_unique
<
RotatedIMU
>
(
[
this
]()
{
auto
imu6
=
getCalibratedLSM6DSRXLastSample
();
auto
mag
=
getCalibratedLIS2MDLLastSample
();
auto
imu6
=
Config
::
Sensors
::
IMU
::
USE_CALIBRATED_LSM6DSRX
?
getCalibratedLSM6DSRXLastSample
()
:
getLSM6DSRXLastSample
();
auto
mag
=
Config
::
Sensors
::
IMU
::
USE_CALIBRATED_LIS2MDL
?
getCalibratedLIS2MDLLastSample
()
:
getLIS2MDLLastSample
();
return
IMUData
{
imu6
,
imu6
,
mag
};
});
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