Diff: imu.cpp

Revision:

56:888379912f81

Child:

61:c05353850017

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imu.cpp	Mon May 31 18:59:36 2021 +0000
@@ -0,0 +1,36 @@
+#include "global.hpp"
+
+void getIMUval()
+{
+    // gx gy gz ax ay az
+    accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
+    ax =  ax - agoffset[0];
+    ay =  ay - agoffset[1];
+    az =  -az - agoffset[2];
+    gx = gx - agoffset[3];
+    gy = gy - agoffset[4];
+    gz = -gz - agoffset[5];
+    // 加速度値を分解能で割って加速度(G)に変換する
+    acc.x = float(ax) / ACCEL_SSF;  //FS_SEL_0 16,384 LSB / g
+    acc.y = float(ay) / ACCEL_SSF;
+    acc.z = float(az) / ACCEL_SSF;
+    // 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(gx) / GYRO_SSF * 0.0174533f;  // (rad/s)
+    gyro.y = float(gy) / GYRO_SSF * 0.0174533f;
+    gyro.z = float(gz) / GYRO_SSF * 0.0174533f;
+    mag_sensor.getAxis(mdata); // flush the magnetmeter
+    magval[0] = (mdata.x - magbias[0]);
+    magval[1] = (mdata.y - magbias[1]);
+    magval[2] = (mdata.z - magbias[2]);
+    mag.x = -magval[0]/magbias[3];
+    mag.y = -magval[1]/magbias[3];
+    mag.z = -magval[2]/magbias[3];
+    
+    float lpc_acc = 0.15f;
+    LPacc = lpc_acc*acc + (1.0f-lpc_acc)*LPacc;
+
+    float lpc_mag = 0.15f;
+    LPmag = lpc_mag*mag + (1.0f-lpc_mag)*LPmag;
+    
+    magref = ekf.calcMagRef(LPmag/LPmag.Norm());
+}
\ No newline at end of file