Diff: hil.cpp

Revision:

102:1c77ff6e2a85

Parent:

94:579e875a4244

Child:

103:fec71c2051c5

--- a/hil.cpp	Sun Nov 07 05:38:17 2021 +0000
+++ b/hil.cpp	Mon Nov 08 09:20:21 2021 +0000
@@ -13,8 +13,6 @@
     rpy_align.y = 0.0f;
     accref.z =  1.0f;
     
-    float sigma_mag = 0.1f;
-    float sigma_palt = 1.0f;
     
     lsm.readAccel();
     lsm.readMag();
@@ -32,30 +30,31 @@
     acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + accmx;  //FS_SEL_0 16,384 LSB / g
     acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy;
     acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy;
-    acc = accMedian.Process(acc);
+    
     // 角速度値を分解能で割って角速度(rad per sec)に変換する
     gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx;  // (rad/s)
     gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy;
     gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz;
-    gyro = gyroMedian.Process(gyro);
     
-    mag.x = float(vp.magData[0])/1000.0f + sigma_mag*randn();
-    mag.y = float(vp.magData[1])/1000.0f + sigma_mag*randn();
-    mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn();
-    mag = magMedian.Process(mag);
+    Matrix magraw(3,1);
+    magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x);
+    magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y);
+    magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z);
+
+    magres = magCalibrator.calcResidial(magraw);
+    if(magres > magresThreshold){
+        magCalibrator.updateParams(magraw,0.001f);
+    };
+    Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw);
+    mag.x = magmod(1,1);
+    mag.y = magmod(2,1);
+    mag.z = magmod(3,1);
     
-    palt =  float(vp.piData[2])/1.0f + sigma_palt*randn();
+    palt =  float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);;
     
     if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
-        acc.x = 0.0f;
-        acc.y = 0.0f;
-        acc.z = -9.8f;
-        gyro.x = 0.0f;
-        gyro.y = 0.0f;
-        gyro.z = 0.0f;
-        mag.x = 1.0f;
-        mag.y = 0.0f;
-        mag.z = 0.0f;
+        acc.z += -9.8f;
+        mag.x += 0.2f;
     }
 }