HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

imu.cpp@92:00460f6df439, 2021-10-28 (annotated)

Committer:
NaotoMorita
Date:
Thu Oct 28 09:44:47 2021 +0000
Revision:
92:00460f6df439
Parent:
89:c9f64bd655d9
Child:
93:b827f78a717a
for PmodNAV

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 void getIMUval()
cocorlow 56:888379912f81 4 {
osaka 88:be349faa1976 5 lsm.readAccel();
NaotoMorita 89:c9f64bd655d9 6 lsm.readMag();
osaka 88:be349faa1976 7 lsm.readGyro();
NaotoMorita 92:00460f6df439 8
NaotoMorita 92:00460f6df439 9 acc.x = lsm.ax * 9.8f - agoffset[0];
NaotoMorita 92:00460f6df439 10 acc.y = lsm.ay * 9.8f - agoffset[1];
NaotoMorita 92:00460f6df439 11 acc.z = lsm.az * 9.8f - agoffset[2];
NaotoMorita 92:00460f6df439 12 gyro.x = (lsm.gx * M_PI / 180.0f) - agoffset[3];
NaotoMorita 92:00460f6df439 13 gyro.y = (lsm.gy * M_PI / 180.0f) - agoffset[4];
NaotoMorita 92:00460f6df439 14 gyro.z = (lsm.gz * M_PI / 180.0f) - agoffset[5];
NaotoMorita 92:00460f6df439 15 mag.x = lsm.mx;
NaotoMorita 92:00460f6df439 16 mag.y = lsm.my;
NaotoMorita 92:00460f6df439 17 mag.z = lsm.mz;
NaotoMorita 92:00460f6df439 18
NaotoMorita 92:00460f6df439 19 float pressure = lps.readPressureMillibars();
NaotoMorita 92:00460f6df439 20 palt = lps.pressureToAltitudeMeters(pressure);
NaotoMorita 92:00460f6df439 21
osaka 88:be349faa1976 22 //printf("%f %f %f %f %f %f %f %f %f\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz);
osaka 88:be349faa1976 23 //printf("%f %f %f\n", lsm.gx, lsm.gy, lsm.gz);
osaka 88:be349faa1976 24 //printf("%f %f %f\n", lsm.mx, lsm.my, lsm.mz);
osaka 88:be349faa1976 25 //float pressure = lps.readPressureMillibars();
osaka 88:be349faa1976 26 //float altitude = lps.pressureToAltitudeMeters(pressure);
osaka 88:be349faa1976 27 //float temperature = lps.readTemperatureC();
NaotoMorita 92:00460f6df439 28 //twelite.printf("p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C\r\n",pressure,altitude,temperature);
NaotoMorita 68:b9f6938fab9d 29 }