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PX4Accelerometer/PX4Gyroscope: fix calibration offset for integrated FIFO case #14765

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Apr 26, 2020
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PX4Accelerometer/PX4Gyroscope: fix calibration offset for integrated FIFO case #14765

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6 changes: 3 additions & 3 deletions src/lib/drivers/accelerometer/PX4Accelerometer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,11 +268,11 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
// Apply rotation (before scaling)
rotate_3f(_rotation, _integration_raw(0), _integration_raw(1), _integration_raw(2));

// integrated in microseconds, convert to seconds
const Vector3f delta_velocity_uncalibrated{_integration_raw * 1e-6f * dt * _scale};
// scale calibration offset to number of samples
const Vector3f offset{_calibration_offset * _integrator_fifo_samples};

// Apply calibration and scale to seconds
const Vector3f delta_velocity{(delta_velocity_uncalibrated - _calibration_offset).emult(_calibration_scale)};
const Vector3f delta_velocity{((_integration_raw * _scale) - offset).emult(_calibration_scale) * 1e-6f * dt};

// fill sensor_accel_integrated and publish
sensor_accel_integrated_s report;
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6 changes: 3 additions & 3 deletions src/lib/drivers/gyroscope/PX4Gyroscope.cpp
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Expand Up @@ -270,11 +270,11 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
// Apply rotation (before scaling)
rotate_3f(_rotation, _integration_raw(0), _integration_raw(1), _integration_raw(2));

// integrated in microseconds, convert to seconds
const Vector3f delta_angle_uncalibrated{_integration_raw * 1e-6f * dt * _scale};
// scale calibration offset to number of samples
const Vector3f offset{_calibration_offset * _integrator_fifo_samples};

// Apply calibration and scale to seconds
const Vector3f delta_angle{delta_angle_uncalibrated - _calibration_offset};
const Vector3f delta_angle{((_integration_raw * _scale) - offset) * 1e-6f * dt};

// fill sensor_gyro_integrated and publish
sensor_gyro_integrated_s report;
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