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@66:e5afad70fdd8, 2021-06-22 (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 22 02:19:14 2021 +0000
Revision:
66:e5afad70fdd8
Parent:
61:c05353850017
Child:
68:b9f6938fab9d
mbed ram start;

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
NaotoMorita 61:c05353850017 22 float inputMag[3];
NaotoMorita 61:c05353850017 23 float outputMag[3];
NaotoMorita 61:c05353850017 24 inputMag[0] = mdata.x;
NaotoMorita 61:c05353850017 25 inputMag[1] = mdata.y;
NaotoMorita 61:c05353850017 26 inputMag[2] = mdata.z;
NaotoMorita 61:c05353850017 27 magCalibrator.run(inputMag,outputMag);
NaotoMorita 61:c05353850017 28 mag.x = -outputMag[0];
NaotoMorita 61:c05353850017 29 mag.y = -outputMag[1];
NaotoMorita 61:c05353850017 30 mag.z = -outputMag[2];
cocorlow 56:888379912f81 31 }