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@76:7fd3ac1afe3e, 2021-08-07 (annotated)

Committer:
NaotoMorita
Date:
Sat Aug 07 06:54:58 2021 +0000
Revision:
76:7fd3ac1afe3e
Parent:
74:f67062e7813e
Child:
87:89bbbcdb667b
async update

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 {
cocorlow 56:888379912f81 5 // gx gy gz ax ay az
NaotoMorita 76:7fd3ac1afe3e 6 //accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 76:7fd3ac1afe3e 7 ax = accelgyro.getAccelerationX() - agoffset[0];
NaotoMorita 76:7fd3ac1afe3e 8 ay = accelgyro.getAccelerationY() - agoffset[1];
NaotoMorita 76:7fd3ac1afe3e 9 az = accelgyro.getAccelerationZ() - agoffset[2];
NaotoMorita 76:7fd3ac1afe3e 10 gx = accelgyro.getRotationX() - agoffset[3];
NaotoMorita 76:7fd3ac1afe3e 11 gy = accelgyro.getRotationY() - agoffset[4];
NaotoMorita 76:7fd3ac1afe3e 12 gz = accelgyro.getRotationZ() - agoffset[5];
cocorlow 56:888379912f81 13 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 70:99f974d8960e 14 acc.x = mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f); //FS_SEL_0 16,384 LSB / g
NaotoMorita 70:99f974d8960e 15 acc.y = mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f);
NaotoMorita 70:99f974d8960e 16 acc.z = mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f);
NaotoMorita 70:99f974d8960e 17 acc = accMedian.Process(acc);
cocorlow 56:888379912f81 18 // 角速度値を分解能で割って角速度(rad per sec)に変換する
cocorlow 56:888379912f81 19 gyro.x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
cocorlow 56:888379912f81 20 gyro.y = float(gy) / GYRO_SSF * 0.0174533f;
cocorlow 56:888379912f81 21 gyro.z = float(gz) / GYRO_SSF * 0.0174533f;
NaotoMorita 70:99f974d8960e 22 gyro = gyroMedian.Process(gyro);
cocorlow 56:888379912f81 23 mag_sensor.getAxis(mdata); // flush the magnetmeter
NaotoMorita 76:7fd3ac1afe3e 24 float magval[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 76:7fd3ac1afe3e 25 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 76:7fd3ac1afe3e 26 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 76:7fd3ac1afe3e 27 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 76:7fd3ac1afe3e 28 mag.x = -magval[1]/magbias[3];
NaotoMorita 76:7fd3ac1afe3e 29 mag.y = -magval[0]/magbias[3];
NaotoMorita 76:7fd3ac1afe3e 30 mag.z = magval[2]/magbias[3];
NaotoMorita 76:7fd3ac1afe3e 31 /*
NaotoMorita 61:c05353850017 32 float inputMag[3];
NaotoMorita 61:c05353850017 33 float outputMag[3];
NaotoMorita 61:c05353850017 34 inputMag[0] = mdata.x;
NaotoMorita 61:c05353850017 35 inputMag[1] = mdata.y;
NaotoMorita 61:c05353850017 36 inputMag[2] = mdata.z;
NaotoMorita 61:c05353850017 37 magCalibrator.run(inputMag,outputMag);
NaotoMorita 74:f67062e7813e 38 mag.x = -outputMag[1];
NaotoMorita 74:f67062e7813e 39 mag.y = -outputMag[0];
NaotoMorita 74:f67062e7813e 40 mag.z = outputMag[2];
NaotoMorita 76:7fd3ac1afe3e 41 */
NaotoMorita 70:99f974d8960e 42 mag = magMedian.Process(mag);
NaotoMorita 68:b9f6938fab9d 43 }