File content as of revision 56:888379912f81:

#include "global.hpp"

void getIMUval()
{
    // gx gy gz ax ay az
    accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
    ax =  ax - agoffset[0];
    ay =  ay - agoffset[1];
    az =  -az - agoffset[2];
    gx = gx - agoffset[3];
    gy = gy - agoffset[4];
    gz = -gz - 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 = float(ax) / ACCEL_SSF;  //FS_SEL_0 16,384 LSB / g
    acc.y = float(ay) / ACCEL_SSF;
    acc.z = float(az) / ACCEL_SSF;
    // 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;
    mag_sensor.getAxis(mdata); // flush the magnetmeter
    magval[0] = (mdata.x - magbias[0]);
    magval[1] = (mdata.y - magbias[1]);
    magval[2] = (mdata.z - magbias[2]);
    mag.x = -magval[0]/magbias[3];
    mag.y = -magval[1]/magbias[3];
    mag.z = -magval[2]/magbias[3];
    
    float lpc_acc = 0.15f;
    LPacc = lpc_acc*acc + (1.0f-lpc_acc)*LPacc;

    float lpc_mag = 0.15f;
    LPmag = lpc_mag*mag + (1.0f-lpc_mag)*LPmag;
    
    magref = ekf.calcMagRef(LPmag/LPmag.Norm());
}