fix(logg): error in current calibration

controller/controller.ino

@@ -48,7 +48,7 @@
 #define SEN0098_VCC 5                 // Supply voltage of the current sensors
 #define SEN0098_SENSI 40.0            // Chip ACS758LCB-050B-PFF-T
 #define SEN0098_QUIESCENT_FACTOR 0.5  // Bidirectional chip-> V_IOUTQ = 0.5*VCC
-#define SEN0098_OFFSET 0.007          // [FIXME] VERIFY!
+#define SEN0098_OFFSET 0.0122         // Manually set so current is 0 when no current
 
 #define GEAR_RATIO 0.1  // Gear ratio between motor and wings
 

controller/sensors.ino

@@ -42,8 +42,8 @@ void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
 float GetCurrent(byte cur_pin) {
   float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
 
-  float volt = volt_raw * -gCUR_QOV + SEN0098_OFFSET;  // Trimming value to make current equal to 0 when no current
-  return volt / gCUR_FACT;                             // Actual current
+  float volt = volt_raw - gCUR_QOV + SEN0098_OFFSET;  // Trimming value to make current equal to 0 when no current
+  return volt / gCUR_FACT;                            // Actual current
 }
 
 // Measure the tension provided by the PSU