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Testing a different coordinate conversion.

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This commit is contained in:
Andrzej Kapolka 2013-06-11 11:22:43 -07:00
parent 73ceea7795
commit bf389de774
1 changed files with 9 additions and 4 deletions
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13
interface/src/SerialInterface.cpp
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@ -216,8 +216,9 @@ void SerialInterface::readData(float deltaTime) {
// From MPU-9150 register map, with setting on // From MPU-9150 register map, with setting on
// highest resolution = +/- 2G // highest resolution = +/- 2G
_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; //_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2;
_lastAcceleration = glm::vec3(-accelYRate, accelXRate, accelZRate) * LSB_TO_METERS_PER_SECOND2;
int rollRate, yawRate, pitchRate; int rollRate, yawRate, pitchRate;
convertHexToInt(sensorBuffer + 22, rollRate); convertHexToInt(sensorBuffer + 22, rollRate);
@ -227,8 +228,12 @@ void SerialInterface::readData(float deltaTime) {
// Convert the integer rates to floats // 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. const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
glm::vec3 rotationRates; glm::vec3 rotationRates;
rotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND; //rotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; //rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND;
//rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[0] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[1] = ((float) pitchRate) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND;
// compute the angular acceleration // compute the angular acceleration