solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: imu.cpp
- Revision:
- 104:20b8caa29185
- Parent:
- 102:1c77ff6e2a85
- Child:
- 111:0fae4fbe2a80
--- a/imu.cpp Wed Nov 10 05:22:31 2021 +0000 +++ b/imu.cpp Wed Nov 10 06:34:16 2021 +0000 @@ -25,7 +25,7 @@ magraw << lsm.mx <<lsm.my << lsm.mz; magres = magCalibrator.calcResidial(magraw); if(magres > magresThreshold){ - magCalibrator.updateParams(magraw,0.001f); + magCalibrator.updateParams(magraw,0.1f); }; Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw); mag.x = magmod(1,1);