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sensors: vehicle_imu fix scaling for correction and back #15121

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sensors: vehicle_imu fix scaling for correction and back #15121

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8 changes: 4 additions & 4 deletions src/modules/sensors/vehicle_imu/VehicleIMU.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -302,13 +302,13 @@ void VehicleIMU::Run()

// delta angle: apply offsets, scale, and board rotation
_gyro_corrections.SensorCorrectionsUpdate();
const float gyro_dt = 1.e-6f * gyro_integral_dt;
const Vector3f delta_angle_corrected{_gyro_corrections.Correct(delta_angle * gyro_dt) / gyro_dt};
const float gyro_dt_inv = 1.e6f * gyro_integral_dt;
const Vector3f delta_angle_corrected{_gyro_corrections.Correct(delta_angle * gyro_dt_inv) / gyro_dt_inv};

// delta velocity: apply offsets, scale, and board rotation
_accel_corrections.SensorCorrectionsUpdate();
const float accel_dt = 1.e-6f * accel_integral_dt;
Vector3f delta_velocity_corrected{_accel_corrections.Correct(delta_velocity * accel_dt) / accel_dt};
const float accel_dt_inv = 1.e6f * accel_integral_dt;
Vector3f delta_velocity_corrected{_accel_corrections.Correct(delta_velocity * accel_dt_inv) / accel_dt_inv};

UpdateAccelVibrationMetrics(delta_velocity_corrected);
UpdateGyroVibrationMetrics(delta_angle_corrected);
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