Revert gyro change
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@ -65,7 +65,7 @@ Config::Config() {
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//
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void Config::createJson(DynamicJsonDocument& doc) {
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doc[PARAM_MDNS] = getMDNS();
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doc[PARAM_CONFIG_VER] = getConfigVersion();
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//doc[PARAM_CONFIG_VER] = getConfigVersion();
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doc[PARAM_ID] = getID();
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doc[PARAM_OTA] = getOtaURL();
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doc[PARAM_SSID] = getWifiSSID();
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@ -293,12 +293,12 @@ bool Config::loadFile() {
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if (!doc[PARAM_FORMULA_DATA]["g5"].isNull())
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_formulaData.g[4] = doc[PARAM_FORMULA_DATA]["g5"].as<double>();
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if( doc[PARAM_CONFIG_VER].isNull() ) {
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/*if( doc[PARAM_CONFIG_VER].isNull() ) {
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// If this parameter is missing we need to reset the gyrocalibaration due to bug #29
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_gyroCalibration.ax = _gyroCalibration.ay = _gyroCalibration.az = 0;
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_gyroCalibration.gx = _gyroCalibration.gy = _gyroCalibration.gz = 0;
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Log.warning(F("CFG : Old configuration format, clearing gyro calibration." CR));
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}
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}*/
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_saveNeeded = false; // Reset save flag
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Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR));
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12
src/gyro.cpp
12
src/gyro.cpp
@ -196,15 +196,15 @@ float GyroSensor::calculateAngle(RawGyroData &raw) {
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az = (static_cast<float>(raw.az)) / 16384;
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// Source: https://www.nxp.com/docs/en/application-note/AN3461.pdf
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//float vY = (acos(abs(ay) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
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float vZ = (acos(abs(az) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
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float vY = (acos(abs(ay) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
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//float vZ = (acos(abs(az) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
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//float vX = (acos(abs(ax) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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//Log.verbose(F("GYRO: angleX= %F." CR), vX);
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//Log.verbose(F("GYRO: angleY= %F." CR), vY);
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Log.verbose(F("GYRO: angleZ= %F." CR), 90-vZ);
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//Log.notice(F("GYRO: angleX= %F." CR), vX);
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Log.notice(F("GYRO: angleY= %F." CR), vY);
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//Log.notice(F("GYRO: angleZ= %F." CR), vZ);
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#endif
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return 90-vZ;
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return vY;
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}
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//
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