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Revert gyro change

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This commit is contained in:
Magnus Persson
2022-02-08 19:05:13 +01:00
parent d22309bb2e
commit 1a7f28413c
2 changed files with 9 additions and 9 deletions
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6
src/config.cpp
View File

@ -65,7 +65,7 @@ Config::Config() {
// //
void Config::createJson(DynamicJsonDocument& doc) { void Config::createJson(DynamicJsonDocument& doc) {
doc[PARAM_MDNS] = getMDNS(); doc[PARAM_MDNS] = getMDNS();
doc[PARAM_CONFIG_VER] = getConfigVersion(); //doc[PARAM_CONFIG_VER] = getConfigVersion();
doc[PARAM_ID] = getID(); doc[PARAM_ID] = getID();
doc[PARAM_OTA] = getOtaURL(); doc[PARAM_OTA] = getOtaURL();
doc[PARAM_SSID] = getWifiSSID(); doc[PARAM_SSID] = getWifiSSID();
@ -293,12 +293,12 @@ bool Config::loadFile() {
if (!doc[PARAM_FORMULA_DATA]["g5"].isNull()) if (!doc[PARAM_FORMULA_DATA]["g5"].isNull())
_formulaData.g[4] = doc[PARAM_FORMULA_DATA]["g5"].as<double>(); _formulaData.g[4] = doc[PARAM_FORMULA_DATA]["g5"].as<double>();
if( doc[PARAM_CONFIG_VER].isNull() ) { /*if( doc[PARAM_CONFIG_VER].isNull() ) {
// If this parameter is missing we need to reset the gyrocalibaration due to bug #29 // If this parameter is missing we need to reset the gyrocalibaration due to bug #29
_gyroCalibration.ax = _gyroCalibration.ay = _gyroCalibration.az = 0; _gyroCalibration.ax = _gyroCalibration.ay = _gyroCalibration.az = 0;
_gyroCalibration.gx = _gyroCalibration.gy = _gyroCalibration.gz = 0; _gyroCalibration.gx = _gyroCalibration.gy = _gyroCalibration.gz = 0;
Log.warning(F("CFG : Old configuration format, clearing gyro calibration." CR)); Log.warning(F("CFG : Old configuration format, clearing gyro calibration." CR));
} }*/
_saveNeeded = false; // Reset save flag _saveNeeded = false; // Reset save flag
Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR)); Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR));

12
src/gyro.cpp
View File

@ -196,15 +196,15 @@ float GyroSensor::calculateAngle(RawGyroData &raw) {
az = (static_cast<float>(raw.az)) / 16384; az = (static_cast<float>(raw.az)) / 16384;
// Source: https://www.nxp.com/docs/en/application-note/AN3461.pdf // Source: https://www.nxp.com/docs/en/application-note/AN3461.pdf
//float vY = (acos(abs(ay) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI); float vY = (acos(abs(ay) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
float vZ = (acos(abs(az) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI); //float vZ = (acos(abs(az) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
//float vX = (acos(abs(ax) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI); //float vX = (acos(abs(ax) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) #if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
//Log.verbose(F("GYRO: angleX= %F." CR), vX); //Log.notice(F("GYRO: angleX= %F." CR), vX);
//Log.verbose(F("GYRO: angleY= %F." CR), vY); Log.notice(F("GYRO: angleY= %F." CR), vY);
Log.verbose(F("GYRO: angleZ= %F." CR), 90-vZ); //Log.notice(F("GYRO: angleZ= %F." CR), vZ);
#endif #endif
return 90-vZ; return vY;
} }
// //