Ampton: tune the gyro axis and direction
BRANCH=octopus
TEST=run the CTS verifier, check the axis and direction is correct
@@ -150,6 +150,12 @@ const mat33_fp_t base_standard_ref = {
{ 0, 0, FLOAT_TO_FP(1)}
};
+const mat33_fp_t gyro_standard_ref = {
+ { 0, FLOAT_TO_FP(-1), 0},
+ { FLOAT_TO_FP(1), 0, 0},
+ { 0, 0, FLOAT_TO_FP(1)}
+};
+
/* sensor private data */
static struct kionix_accel_data g_kx022_data;
static struct bmi160_drv_data_t g_bmi160_data;
@@ -220,7 +226,7 @@ struct motion_sensor_t motion_sensors[] = {
.port = I2C_PORT_SENSOR,
.addr = BMI160_ADDR0,
.default_range = 1000, /* dps */
- .rot_standard_ref = NULL, /* Identity matrix. */
+ .rot_standard_ref = &gyro_standard_ref,
.min_frequency = BMI160_GYRO_MIN_FREQ,
.max_frequency = BMI160_GYRO_MAX_FREQ,
},
