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src: lib: Change the sensor readings axes to navigator's standard #37

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Jul 13, 2023
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src: lib: Change the sensor readings axes to navigator's standard #37

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17 changes: 13 additions & 4 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -722,7 +722,12 @@ impl Navigator {
/// ```
pub fn read_mag(&mut self) -> AxisData {
let (x, y, z) = self.mag.read().unwrap();
AxisData { x, y, z }
// Change the axes to navigator's standard. Right-handed, Z-axis down (aeronautical frame, NED).
AxisData {
x: y,
y: x * -1.0,
z,
}
}

/// Reads the temperature using BMP280 of [`Navigator`].
Expand Down Expand Up @@ -878,10 +883,13 @@ impl Navigator {
/// ```
pub fn read_accel(&mut self) -> AxisData {
let reading: [f32; 3] = self.imu.get_scaled_accel().unwrap();
// Change the axes to navigator's standard. Right-handed, Z-axis down (aeronautical frame, NED).
// Obs.: ICM20602 sensor is measuring with inverted directions, not following data-sheet.
// Thus, with IC's placement only Z needs to be inverted.
AxisData {
x: reading[0],
y: reading[1],
z: reading[2],
z: reading[2] * -1.0,
}
}

Expand All @@ -907,9 +915,10 @@ impl Navigator {
/// ```
pub fn read_gyro(&mut self) -> AxisData {
let reading: [f32; 3] = self.imu.get_scaled_gyro().unwrap();
// Change the axes to navigator's standard. Right-handed, Z-axis down (aeronautical frame, NED).
AxisData {
x: reading[0],
y: reading[1],
x: reading[0] * -1.0,
y: reading[1] * -1.0,
z: reading[2],
}
}
Expand Down
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