/*====================================================================================================*/ void Sensor_Init( void ) { MPU_InitTypeDef MPU_InitStruct; Acc.X = 0; Acc.Y = 0; Acc.Z = 0; Acc.OffsetX = 0; Acc.OffsetY = 0; Acc.OffsetZ = 0; Acc.TrueX = 0.0f; Acc.TrueY = 0.0f; Acc.TrueZ = 0.0f; Gyr.X = 0; Gyr.Y = 0; Gyr.Z = 0; Gyr.OffsetX = 0; Gyr.OffsetY = 0; Gyr.OffsetZ = 0; Gyr.TrueX = 0.0f; Gyr.TrueY = 0.0f; Gyr.TrueZ = 0.0f; #ifdef USE_SENSOR_MAG Mag.X = 0; Mag.Y = 0; Mag.Z = 0; Mag.AdjustX = 0; Mag.AdjustY = 0; Mag.AdjustZ = 0; Mag.TrueX = 0.0f; Mag.TrueY = 0.0f; Mag.TrueZ = 0.0f; #endif Temp.T = 0; Temp.OffsetT = TEMP_OFFSET; Temp.TrueT = 0.0f; #ifdef USE_SENSOR_BARO Baro.Temp = 0.0f; Baro.Press = 0.0f; Baro.Height = 0.0f; #endif MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps; MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_250Hz; MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g; MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_184Hz; MPU9250_Init(&MPU_InitStruct); #ifdef USE_SENSOR_BARO MS5611_Init(); #endif }
/*=====================================================================================================*/ void Sensor_Init( void ) { Acc.X = 0; Acc.Y = 0; Acc.Z = 0; Acc.OffsetX = +7; Acc.OffsetY = +146; Acc.OffsetZ = -291; Acc.TrueX = 0.0f; Acc.TrueY = 0.0f; Acc.TrueZ = 0.0f; Gyr.X = 0; Gyr.Y = 0; Gyr.Z = 0; Gyr.OffsetX = 0; Gyr.OffsetY = 0; Gyr.OffsetZ = 0; Gyr.TrueX = 0.0f; Gyr.TrueY = 0.0f; Gyr.TrueZ = 0.0f; Mag.X = 0; Mag.Y = 0; Mag.Z = 0; Mag.AdjustX = 0; Mag.AdjustY = 0; Mag.AdjustZ = 0; Mag.TrueX = 0.0f; Mag.TrueY = 0.0f; Mag.TrueZ = 0.0f; Temp.T = 0; Temp.OffsetT = TEMP_OFFSET; Temp.TrueT = 0.0f; Baro.Temp = 0.0f; Baro.Press = 0.0f; Baro.Height = 0.0f; while(MPU9150_Init() != SUCCESS); MS5611_Init(); }
/*=====================================================================================================*/ u8 Sensor_Init(void) { u8 Sta = ERROR; Acc.X = 0; Acc.Y = 0; Acc.Z = 0; Acc.OffsetX = +7; Acc.OffsetY = +146; Acc.OffsetZ = -291; Acc.TrueX = 0.0f; Acc.TrueY = 0.0f; Acc.TrueZ = 0.0f; Gyr.X = 0; Gyr.Y = 0; Gyr.Z = 0; Gyr.OffsetX = 0; Gyr.OffsetY = 0; Gyr.OffsetZ = 0; Gyr.TrueX = 0.0f; Gyr.TrueY = 0.0f; Gyr.TrueZ = 0.0f; Mag.X = 0; Mag.Y = 0; Mag.Z = 0; Mag.AdjustX = 0; Mag.AdjustY = 0; Mag.AdjustZ = 0; Mag.TrueX = 0.0f; Mag.TrueY = 0.0f; Mag.TrueZ = 0.0f; Temp.T = 0; Temp.OffsetT = TEMP_OFFSET; Temp.TrueT = 0.0f; Sta = MPU9150_Init(); MS5611_Init(&Baro); return Sta; }