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@98:bdaa6bbfb1d9, 2021-11-03 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Nov 03 14:59:26 2021 +0000
- Revision:
- 98:bdaa6bbfb1d9
- Parent:
- 93:b827f78a717a
- Child:
- 99:98b892ca70ec
slightly modified
Who changed what in which revision?
User | Revision | Line number | New 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 | 93:b827f78a717a | 9 | Matrix accmat(3,1); |
NaotoMorita | 93:b827f78a717a | 10 | accmat << lsm.ax * 9.8f - agoffset[0] << lsm.ay * 9.8f - agoffset[1] << lsm.az * 9.8f - agoffset[2]; |
NaotoMorita | 93:b827f78a717a | 11 | Matrix accAlign = SensorAlignment*accmat; |
NaotoMorita | 93:b827f78a717a | 12 | |
NaotoMorita | 93:b827f78a717a | 13 | acc.x = accAlign(1,1); |
NaotoMorita | 93:b827f78a717a | 14 | acc.y = accAlign(2,1); |
NaotoMorita | 93:b827f78a717a | 15 | acc.z = accAlign(3,1); |
NaotoMorita | 93:b827f78a717a | 16 | |
NaotoMorita | 93:b827f78a717a | 17 | Matrix gyromat(3,1); |
NaotoMorita | 93:b827f78a717a | 18 | gyromat << (lsm.gx * M_PI / 180.0f) - agoffset[3] << (lsm.gy * M_PI / 180.0f) - agoffset[4] << (lsm.gz * M_PI / 180.0f) - agoffset[5]; |
NaotoMorita | 93:b827f78a717a | 19 | Matrix gyroAlign = SensorAlignment*gyromat; |
NaotoMorita | 93:b827f78a717a | 20 | gyro.x = gyroAlign(1,1); |
NaotoMorita | 93:b827f78a717a | 21 | gyro.y = gyroAlign(2,1); |
NaotoMorita | 93:b827f78a717a | 22 | gyro.z = gyroAlign(3,1); |
NaotoMorita | 92:00460f6df439 | 23 | |
NaotoMorita | 98:bdaa6bbfb1d9 | 24 | palt = lps.pressureToAltitudeMeters(lps.readPressureMillibars()); |
NaotoMorita | 92:00460f6df439 | 25 | |
osaka | 88:be349faa1976 | 26 | //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 | 27 | //printf("%f %f %f\n", lsm.gx, lsm.gy, lsm.gz); |
osaka | 88:be349faa1976 | 28 | //printf("%f %f %f\n", lsm.mx, lsm.my, lsm.mz); |
osaka | 88:be349faa1976 | 29 | //float pressure = lps.readPressureMillibars(); |
osaka | 88:be349faa1976 | 30 | //float altitude = lps.pressureToAltitudeMeters(pressure); |
osaka | 88:be349faa1976 | 31 | //float temperature = lps.readTemperatureC(); |
NaotoMorita | 92:00460f6df439 | 32 | //twelite.printf("p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C\r\n",pressure,altitude,temperature); |
NaotoMorita | 68:b9f6938fab9d | 33 | } |