Diff: global.cpp

Revision:

68:b9f6938fab9d

Parent:

67:41fcdfb7cc5a

Child:

70:99f974d8960e

--- a/global.cpp	Tue Jun 22 02:45:43 2021 +0000
+++ b/global.cpp	Mon Jun 28 01:40:26 2021 +0000
@@ -33,7 +33,8 @@
 // position
 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
 Vector3 acc;
-Vector3 accref(0.0f, 0.0f, -0.98f);
+Vector3 accref(0.0f, 0.0f, 0.98f);
+Vector3 dynacc;
 Vector3 mag;
 Vector3 magref(0.65f, 0.0f, 0.75f);
 Vector3 gyro;
@@ -42,11 +43,11 @@
 float servoOut[2] = {1500.0f,1500.0f};
 
 int calibrationFlag = 0;
-int agoffset[6] = {0, 0, 0, 386, -450, 48};
-float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
-float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
+int agoffset[6] = {0, 0, 0, -121, -12, 24};
+float magbiasMin[3] = {-45.639572, -0.059049, -208.120300};
+float magbiasMax[3] = {28.209938, 65.421822, -131.388748};
 
-Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f);
+Vector3 rpy_align(-1.192014f*M_PI/180.0f, -2.639991f*M_PI/180.0f, 0.0f*M_PI/180.0f);
 
 
 // UsaPack