Diff: hil.cpp

Revision:

93:b827f78a717a

Parent:

92:00460f6df439

Child:

94:579e875a4244

--- a/hil.cpp	Thu Oct 28 09:44:47 2021 +0000
+++ b/hil.cpp	Fri Oct 29 13:30:24 2021 +0000
@@ -12,19 +12,30 @@
     rpy_align.x = 0.0f;
     rpy_align.y = 0.0f;
     accref.z =  1.0f;
-    float sigma_acc =  sqrt(0.00020f);
-    float sigma_gyro = sqrt(0.000005f);
-    float sigma_mag =  sqrt(0.002f);
+    
+    float sigma_mag = 0.1f;
+    
+    lsm.readAccel();
+    lsm.readMag();
+    lsm.readGyro();
+    
+    float accmx = lsm.ax * 9.8f - agoffset[0];
+    float accmy = lsm.ay * 9.8f - agoffset[1];
+    float accmz = lsm.az * 9.8f - agoffset[2];
+    float gyromx = (lsm.gx * M_PI / 180.0f) - agoffset[3];
+    float gyromy = (lsm.gy * M_PI / 180.0f) - agoffset[4];
+    float gyromz = (lsm.gz * M_PI / 180.0f) - agoffset[5];      
+    
     // gx gy gz ax ay az
     // 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]) / 4096.0f + sigma_acc*randn();  //FS_SEL_0 16,384 LSB / g
-    acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + sigma_acc*randn();
-    acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + sigma_acc*randn();
+    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 + sigma_gyro*randn();  // (rad/s)
-    gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + sigma_gyro*randn();
-    gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + sigma_gyro*randn();
+    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();
@@ -47,8 +58,8 @@
 
 void getHilGPSval()
 {
-    float sigma_vi =  2.0f/1.1774f;
-    float sigma_pi =  2.0f/1.1774f;
+    float sigma_vi =  0.1f;
+    float sigma_pi =  1.0f;
     
     //GPSの速度情報m/s
     vi.x =  float(vp.viData[0])/1000.0f + sigma_vi*randn();