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Small report: a tiny error in the ArduIMU fireware (for 1.5, 1.6 and 1.7)

Posted by Alex on May 13, 2010 at 7:19am

I think I found a tiny error in the ArduIMU firware like follows:

 

in the arduimu.pde file, at the beginning

 

#define GRAVITY 101
#define Accel_Scale(x) x*(GRAVITY/9.81

 

should be .................. x/(GRAVITY/9.81

 

 

(after this modification, now I can output the correct acc information)

 

 

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Replies

  • Developer
    Jose Julio May 13, 2010 at 10:29am
    Chris, you are right the code is OK. We use this Accel_Scale() in the centrifugal force correction function to convert from real units to Accel raw units and Alex wants to convert from accel raw units to real units so he needs the inverse formula (like he say). I think also that the comment in this line of code is not right.

    Jose.
  • 3D Robotics
    Chris Anderson May 13, 2010 at 7:28am
    That's not a tiny error ;-)

    I think you're mistaken, since that kind of massive error would have shown up already and you wouldn't have everyone flying well as they are, but I'll leave it to the authors, like Jose Julio, to comment. Normally scalers are multiplied, not divided.
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