Diff: hil.cpp

Revision:

90:96c2b0ed4b96

Parent:

84:ff48e01ea76b

Child:

92:00460f6df439

--- a/hil.cpp	Mon Oct 25 05:39:34 2021 +0000
+++ b/hil.cpp	Tue Oct 26 05:36:18 2021 +0000
@@ -12,25 +12,28 @@
     rpy_align.x = 0.0f;
     rpy_align.y = 0.0f;
     accref.z =  1.0f;
-    float sigma_acc =  sqrt(0.000020f);
+    float sigma_acc =  sqrt(0.00020f);
     float sigma_gyro = sqrt(0.000005f);
     float sigma_mag =  sqrt(0.002f);
     float sigma_vi =  sqrt(0.002f);
     // gx gy gz ax ay az
-    // 加速度値を分解能で割って加速度(G)に変換する
-    acc.x = float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn();  //FS_SEL_0 16,384 LSB / g
-    acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn();
-    acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn();
+    // 加速度値を分解能で割って加速度(m/s^2)に変換する
+    acc.x = 9.8f*float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn();  //FS_SEL_0 16,384 LSB / g
+    acc.y = 9.8f*float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn();
+    acc.z = 9.8f*float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn();
     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]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();  // (rad/s)
     gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
     gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
     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.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);
+    
+    //GPSの速度情報m/s
     vi.x =  float(vp.viData[0])/1000.0f + sigma_vi*randn();
     vi.y =  float(vp.viData[1])/1000.0f + sigma_vi*randn();
     vi.z =  float(vp.viData[2])/1000.0f + sigma_vi*randn();