Diff: hil.cpp

Revision:

75:a505b9896da1

Parent:

74:f67062e7813e

Child:

76:7fd3ac1afe3e

--- a/hil.cpp	Tue Jul 20 05:52:29 2021 +0000
+++ b/hil.cpp	Tue Jul 20 11:57:05 2021 +0000
@@ -7,7 +7,7 @@
     accref.z =  1.0f;
     float sigma_acc =  sqrt(0.000020f);
     float sigma_gyro = sqrt(0.000005f);
-    float sigma_mag =  sqrt(0.002f);
+    float sigma_mag =  sqrt(0.00001f);
     // 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
@@ -19,8 +19,8 @@
     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.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn();
+    mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn();
     mag.z =  float(vp.magData[2])/1000.0f + sigma_mag*randn();
     mag = magMedian.Process(mag);
     if(acc.Norm()<0.01f || mag.Norm() < 0.001f){