aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-06-28 05:56:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Pass acc data in mG in SCALED_IMU to comply with mavlink standard

Browse Source 
https://mavlink.io/en/messages/common.html#SCALED_IMU
pyflix@0.13
This commit is contained in:
Oleg Kalachev
2026-04-24 07:42:39 +03:00
parent 350a82bfed
commit d6a79d6c66
3 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
flix/mavlink.ino
+1 -1
View File
@@ -65,7 +65,7 @@ void sendMavlink() {
sendMessage(&msg); sendMessage(&msg);
mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000, gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
0, 0, 0, 0); 0, 0, 0, 0);
sendMessage(&msg); sendMessage(&msg);
tools/pyflix/flix.py
+2 -1
View File
@@ -186,7 +186,8 @@ class Flix:
self._trigger('motors', self.motors) self._trigger('motors', self.motors)
if isinstance(msg, mavlink.MAVLink_scaled_imu_message): if isinstance(msg, mavlink.MAVLink_scaled_imu_message):
self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000]) ONE_G = 9.80665
self.acc = self._mavlink_to_flu([msg.xacc * ONE_G / 1000, msg.yacc * ONE_G / 1000, msg.zacc * ONE_G / 1000])
self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000]) self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000])
self._trigger('acc', self.acc) self._trigger('acc', self.acc)
self._trigger('gyro', self.gyro) self._trigger('gyro', self.gyro)
tools/pyproject.toml
+1 -1
View File
@@ -1,6 +1,6 @@
[project] [project]
name = "pyflix" name = "pyflix"
version = "0.12" version = "0.13"
description = "Python API for Flix drone" description = "Python API for Flix drone"
authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
license = "MIT" license = "MIT"