commit 90b43b4c6f150fec5def1fe4c6379d490fbbc2ba
author Austin Schuh <austin.linux@gmail.com> Fri Jan 04 07:45:05 2019 +1100
committer Austin Schuh <austin.linux@gmail.com> Fri Jan 04 10:48:32 2019 -0800
tree f2bd83843a635d7a4a27976b8283c1178bc86781
parent 9b881ae5fafc884cc29a469ca9fff27bbd0c3d61

Add ability to handle an upside-down Z IMU

Change-Id: I389eebcefec62c55a11661848167d168cf6b1f9a

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index a4401ea..177c0a5 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -192,6 +192,13 @@
         last_gyro_time_ = monotonic_now;
       }
       break;
+    case GyroType::FLIPPED_IMU_Z_GYRO:
+      if (is_latest_imu_values) {
+        LOG_STRUCT(DEBUG, "using", *imu_values.get());
+        last_gyro_rate_ = -imu_values->gyro_z;
+        last_gyro_time_ = monotonic_now;
+      }
+      break;
     case GyroType::SPARTAN_GYRO:
       if (gyro_reading.FetchLatest()) {
         LOG_STRUCT(DEBUG, "using", *gyro_reading.get());