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@70:99f974d8960e, 2021-06-29 (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 29 08:07:55 2021 +0000
Revision:
70:99f974d8960e
Parent:
68:b9f6938fab9d
Child:
74:f67062e7813e
commit

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 68:b9f6938fab9d 6 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 68:b9f6938fab9d 7 ax = ax - agoffset[0];
NaotoMorita 68:b9f6938fab9d 8 ay = ay - agoffset[1];
NaotoMorita 68:b9f6938fab9d 9 az = az - agoffset[2];
cocorlow 56:888379912f81 10 gx = gx - agoffset[3];
cocorlow 56:888379912f81 11 gy = gy - agoffset[4];
NaotoMorita 68:b9f6938fab9d 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
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 61:c05353850017 24 float inputMag[3];
NaotoMorita 61:c05353850017 25 float outputMag[3];
NaotoMorita 61:c05353850017 26 inputMag[0] = mdata.x;
NaotoMorita 61:c05353850017 27 inputMag[1] = mdata.y;
NaotoMorita 61:c05353850017 28 inputMag[2] = mdata.z;
NaotoMorita 61:c05353850017 29 magCalibrator.run(inputMag,outputMag);
NaotoMorita 61:c05353850017 30 mag.x = -outputMag[0];
NaotoMorita 61:c05353850017 31 mag.y = -outputMag[1];
NaotoMorita 61:c05353850017 32 mag.z = -outputMag[2];
NaotoMorita 70:99f974d8960e 33 mag = magMedian.Process(mag);
NaotoMorita 68:b9f6938fab9d 34 }