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@56:888379912f81, 2021-05-31 (annotated)

Committer:
cocorlow
Date:
Mon May 31 18:59:36 2021 +0000
Revision:
56:888379912f81
Child:
61:c05353850017
file divided

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
cocorlow 56:888379912f81 6 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
cocorlow 56:888379912f81 7 ax = ax - agoffset[0];
cocorlow 56:888379912f81 8 ay = ay - agoffset[1];
cocorlow 56:888379912f81 9 az = -az - agoffset[2];
cocorlow 56:888379912f81 10 gx = gx - agoffset[3];
cocorlow 56:888379912f81 11 gy = gy - agoffset[4];
cocorlow 56:888379912f81 12 gz = -gz - 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
cocorlow 56:888379912f81 14 acc.x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
cocorlow 56:888379912f81 15 acc.y = float(ay) / ACCEL_SSF;
cocorlow 56:888379912f81 16 acc.z = float(az) / ACCEL_SSF;
cocorlow 56:888379912f81 17 // 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 18 gyro.x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
cocorlow 56:888379912f81 19 gyro.y = float(gy) / GYRO_SSF * 0.0174533f;
cocorlow 56:888379912f81 20 gyro.z = float(gz) / GYRO_SSF * 0.0174533f;
cocorlow 56:888379912f81 21 mag_sensor.getAxis(mdata); // flush the magnetmeter
cocorlow 56:888379912f81 22 magval[0] = (mdata.x - magbias[0]);
cocorlow 56:888379912f81 23 magval[1] = (mdata.y - magbias[1]);
cocorlow 56:888379912f81 24 magval[2] = (mdata.z - magbias[2]);
cocorlow 56:888379912f81 25 mag.x = -magval[0]/magbias[3];
cocorlow 56:888379912f81 26 mag.y = -magval[1]/magbias[3];
cocorlow 56:888379912f81 27 mag.z = -magval[2]/magbias[3];
cocorlow 56:888379912f81 28
cocorlow 56:888379912f81 29 float lpc_acc = 0.15f;
cocorlow 56:888379912f81 30 LPacc = lpc_acc*acc + (1.0f-lpc_acc)*LPacc;
cocorlow 56:888379912f81 31
cocorlow 56:888379912f81 32 float lpc_mag = 0.15f;
cocorlow 56:888379912f81 33 LPmag = lpc_mag*mag + (1.0f-lpc_mag)*LPmag;
cocorlow 56:888379912f81 34
cocorlow 56:888379912f81 35 magref = ekf.calcMagRef(LPmag/LPmag.Norm());
cocorlow 56:888379912f81 36 }