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Converted gyro values to floats and converted to exact degrees/second per docs.

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This commit is contained in:
Philip Rosedale 2013-05-08 11:22:49 -07:00
parent 7d4663a2d5
commit 131377aaf9
3 changed files with 27 additions and 19 deletions
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6
interface/src/Avatar.cpp
View file

@ -266,9 +266,9 @@ void Avatar::UpdateGyros(float frametime, SerialInterface* serialInterface, glm:
float measured_pitch_rate = 0.0f;
float measured_roll_rate = 0.0f;
if (serialInterface->active && USING_INVENSENSE_MPU9150) {
measured_pitch_rate = serialInterface->getLastPitch();
_head.yawRate = serialInterface->getLastYaw();
measured_roll_rate = -1 * serialInterface->getLastRoll();
measured_pitch_rate = serialInterface->getLastPitchRate();
_head.yawRate = serialInterface->getLastYawRate();
measured_roll_rate = -1 * serialInterface->getLastRollRate();
} else {
measured_pitch_rate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
_head.yawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE);

28
interface/src/SerialInterface.cpp
View file

@ -173,12 +173,12 @@ void SerialInterface::renderLevels(int width, int height) {
const int LEVEL_CORNER_X = 10;
const int LEVEL_CORNER_Y = 200;
// Draw the text values
sprintf(val, "Yaw %d", _lastYaw);
// Draw the numeric degree/sec values from the gyros
sprintf(val, "Yaw %4.1f", _lastYawRate);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Pitch %d", _lastPitch);
sprintf(val, "Pitch %4.1f", _lastPitchRate);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Roll %d", _lastRoll);
sprintf(val, "Roll %4.1f", _lastRollRate);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0);
// Draw the levels as horizontal lines
@ -187,11 +187,11 @@ void SerialInterface::renderLevels(int width, int height) {
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastYaw, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastYawRate, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastPitch, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastPitchRate, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRoll, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRollRate, LEVEL_CORNER_Y + 27);
glEnd();
// Draw green vertical centerline
glColor4f(0, 1, 0, 0.5);
@ -238,9 +238,17 @@ void SerialInterface::readData() {
write(_serialDescriptor, "RD684306\n", 9);
read(_serialDescriptor, gyroBuffer, 20);
convertHexToInt(gyroBuffer + 6, _lastYaw);
convertHexToInt(gyroBuffer + 10, _lastRoll);
convertHexToInt(gyroBuffer + 14, _lastPitch);
int rollRate, yawRate, pitchRate;
convertHexToInt(gyroBuffer + 6, rollRate);
convertHexToInt(gyroBuffer + 10, yawRate);
convertHexToInt(gyroBuffer + 14, pitchRate);
// Convert the integer rates to floats
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
_lastRollRate = (float) rollRate * LSB_TO_DEGREES_PER_SECOND;
_lastYawRate = (float) yawRate * LSB_TO_DEGREES_PER_SECOND;
_lastPitchRate = (float) pitchRate * LSB_TO_DEGREES_PER_SECOND;
totalSamples++;
} else {

12
interface/src/SerialInterface.h
View file

@ -42,9 +42,9 @@ public:
void pair();
void readData();
int getLastYaw() const { return _lastYaw; }
int getLastPitch() const { return _lastPitch; }
int getLastRoll() const { return _lastRoll; }
float getLastYawRate() const { return _lastYawRate; }
float getLastPitchRate() const { return _lastPitchRate; }
float getLastRollRate() const { return _lastRollRate; }
int getLED() {return LED;};
int getNumSamples() {return samplesAveraged;};
@ -69,9 +69,9 @@ private:
int totalSamples;
timeval lastGoodRead;
glm::vec3 gravity;
int _lastYaw;
int _lastPitch;
int _lastRoll;
float _lastYawRate; // Rates are in degrees per second.
float _lastPitchRate;
float _lastRollRate;
int _failedOpenAttempts;
};