Showing the changes to interface/src/SerialInterface.cpp (1 of 1 file). Show all
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| @@ -216,8 +216,9 @@ void SerialInterface::readData(float deltaTime) { · 215 unmodified lines | |||
| 216 | // From MPU-9150 register map, with setting on | 216 | // From MPU-9150 register map, with setting on |
| 217 | // highest resolution = +/- 2G | 217 | // highest resolution = +/- 2G |
| 218 | 218 | ||
| 219 | _lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; | 219 | //_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; |
| 220 | 220 | _lastAcceleration = glm::vec3(-accelYRate, accelXRate, accelZRate) * LSB_TO_METERS_PER_SECOND2; | |
| 221 | |||
| 221 | int rollRate, yawRate, pitchRate; | 222 | int rollRate, yawRate, pitchRate; |
| 222 | 223 | ||
| 223 | convertHexToInt(sensorBuffer + 22, rollRate); | 224 | convertHexToInt(sensorBuffer + 22, rollRate); |
| @@ -227,8 +228,12 @@ void SerialInterface::readData(float deltaTime) { · 3 unmodified lines | |||
| 227 | // Convert the integer rates to floats | 228 | // Convert the integer rates to floats |
| 228 | const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec. | 229 | const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec. |
| 229 | glm::vec3 rotationRates; | 230 | glm::vec3 rotationRates; |
| 230 | rotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND; | 231 | //rotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND; |
| 231 | rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; | 232 | //rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; |
| 233 | //rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; | ||
| 234 | |||
| 235 | rotationRates[0] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; | ||
| 236 | rotationRates[1] = ((float) pitchRate) * LSB_TO_DEGREES_PER_SECOND; | ||
| 232 | rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; | 237 | rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; |
| 233 | 238 | ||
| 234 | // compute the angular acceleration | 239 | // compute the angular acceleration |