static void settingsUpdatedCb(UAVObjEvent * ev)
{
if (ev == NULL || ev->obj == RevoCalibrationHandle()) {
RevoCalibrationGet(&revoCalibration);
/* When the revo calibration is updated, update the GyroBias object */
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyrosBias.y = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Y];
gyrosBias.z = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Z];
GyrosBiasSet(&gyrosBias);
gyroBiasSettingsUpdated = true;
// In case INS currently running
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
}
if(ev == NULL || ev->obj == HomeLocationHandle()) {
HomeLocationGet(&homeLocation);
// Compute matrix to convert deltaLLA to NED
float lat, alt;
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
alt = homeLocation.Altitude;
T[0] = alt+6.378137E6f;
T[1] = cosf(lat)*(alt+6.378137E6f);
T[2] = -1.0f;
}
if (ev == NULL || ev->obj == AttitudeSettingsHandle())
AttitudeSettingsGet(&attitudeSettings);
if (ev == NULL || ev->obj == RevoSettingsHandle())
RevoSettingsGet(&revoSettings);
}
void RevoCalibrationMagScaleGet( float *NewMagScale )
{
UAVObjGetDataField(RevoCalibrationHandle(), (void*)NewMagScale, offsetof( RevoCalibrationData, MagScale), 3*sizeof(float));
}
/**
* Get/Set object Functions
*/
void RevoCalibrationMagBiasSet( float *NewMagBias )
{
UAVObjSetDataField(RevoCalibrationHandle(), (void*)NewMagBias, offsetof( RevoCalibrationData, MagBias), 3*sizeof(float));
}
