From ff9e6f831c17bc0285f660681a8f296441a60853 Mon Sep 17 00:00:00 2001 From: Andrzej Kapolka Date: Tue, 11 Jun 2013 11:31:01 -0700 Subject: [PATCH] Revert to previous coordinates. --- interface/src/SerialInterface.cpp | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp index 03a03b87aa..cbd03f801b 100644 --- a/interface/src/SerialInterface.cpp +++ b/interface/src/SerialInterface.cpp @@ -216,9 +216,8 @@ void SerialInterface::readData(float deltaTime) { // From MPU-9150 register map, with setting on // highest resolution = +/- 2G - //_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; - _lastAcceleration = glm::vec3(-accelYRate, accelXRate, accelZRate) * LSB_TO_METERS_PER_SECOND2; - + _lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; + int rollRate, yawRate, pitchRate; convertHexToInt(sensorBuffer + 22, rollRate); @@ -228,12 +227,8 @@ void SerialInterface::readData(float deltaTime) { // 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. glm::vec3 rotationRates; - //rotationRates[0] = ((float) -pitchRate) * 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[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND; + rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; // compute the angular acceleration