solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
imu.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-08-07
- Revision:
- 76:7fd3ac1afe3e
- Parent:
- 74:f67062e7813e
- Child:
- 87:89bbbcdb667b
File content as of revision 76:7fd3ac1afe3e:
#include "global.hpp" void getIMUval() { // gx gy gz ax ay az //accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); ax = accelgyro.getAccelerationX() - agoffset[0]; ay = accelgyro.getAccelerationY() - agoffset[1]; az = accelgyro.getAccelerationZ() - agoffset[2]; gx = accelgyro.getRotationX() - agoffset[3]; gy = accelgyro.getRotationY() - agoffset[4]; gz = accelgyro.getRotationZ() - 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 = mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f); //FS_SEL_0 16,384 LSB / g acc.y = mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f); acc.z = mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f); 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(gx) / GYRO_SSF * 0.0174533f; // (rad/s) gyro.y = float(gy) / GYRO_SSF * 0.0174533f; gyro.z = float(gz) / GYRO_SSF * 0.0174533f; gyro = gyroMedian.Process(gyro); mag_sensor.getAxis(mdata); // flush the magnetmeter float magval[3] = {0.0f, 0.0f, 0.0f}; magval[0] = (mdata.x - magbias[0]); magval[1] = (mdata.y - magbias[1]); magval[2] = (mdata.z - magbias[2]); mag.x = -magval[1]/magbias[3]; mag.y = -magval[0]/magbias[3]; mag.z = magval[2]/magbias[3]; /* float inputMag[3]; float outputMag[3]; inputMag[0] = mdata.x; inputMag[1] = mdata.y; inputMag[2] = mdata.z; magCalibrator.run(inputMag,outputMag); mag.x = -outputMag[1]; mag.y = -outputMag[0]; mag.z = outputMag[2]; */ mag = magMedian.Process(mag); }