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changed ang vel calculation to being sensitivity based instead of range based
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This commit is contained in:
Marius Eggert 2023-01-20 10:33:36 +01:00
parent e66567eb94
commit aeddc92cf3
3 changed files with 12 additions and 10 deletions
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15
mission/devices/GyroADIS1650XHandler.cpp
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@ -228,15 +228,15 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
switch (bitfield) {
case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
rangeMultiplicator = RANGE_1BMLZ;
sensitivity = SENSITIVITY_1BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
rangeMultiplicator = RANGE_2BMLZ;
sensitivity = SENSITIVITY_2BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
rangeMultiplicator = RANGE_3BMLZ;
sensitivity = SENSITIVITY_3BMLZ;
break;
}
case (RangMdlBitfield::RESERVED): {
@ -298,14 +298,11 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
{
PoolReadGuard pg(&primaryDataset);
int16_t angVelocXRaw = packet[4] << 8 | packet[5];
primaryDataset.angVelocX.value =
static_cast<float>(angVelocXRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) * sensitivity;
int16_t angVelocYRaw = packet[6] << 8 | packet[7];
primaryDataset.angVelocY.value =
static_cast<float>(angVelocYRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) * sensitivity;
int16_t angVelocZRaw = packet[8] << 8 | packet[9];
primaryDataset.angVelocZ.value =
static_cast<float>(angVelocZRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) * sensitivity;
float accelScaling = 0;
if (adisType == ADIS1650X::Type::ADIS16507) {

2
mission/devices/GyroADIS1650XHandler.h
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@ -46,7 +46,7 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
ADIS1650X::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
double rangeMultiplicator = ADIS1650X::RANGE_UNSET;
double sensitivity = ADIS1650X::SENSITIVITY_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;

5
mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
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@ -18,6 +18,11 @@ static constexpr double RANGE_UNSET = 0.0;
static constexpr double RANGE_1BMLZ = 125.0;
static constexpr double RANGE_2BMLZ = 500.0;
static constexpr double RANGE_3BMLZ = 2000.0;
// Sensitivities in deg/s/LSB
static constexpr double SENSITIVITY_UNSET = 0.0;
static constexpr double SENSITIVITY_1BMLZ = 0.00625;
static constexpr double SENSITIVITY_2BMLZ = 0.025;
static constexpr double SENSITIVITY_3BMLZ = 0.1;
enum RangMdlBitfield {
RANGE_125_1BMLZ = 0b00,