File content as of revision 83:e69ab831031c:

#include "global.hpp"

void getHILval()
{
        switch(vp.commandIndex){
        case 1:
            NVIC_SystemReset();
            break;
        default : 
            break;
        }
    rpy_align.x = 0.0f;
    rpy_align.y = 0.0f;
    accref.z =  1.0f;
    float sigma_acc =  sqrt(0.000020f);
    float sigma_gyro = sqrt(0.000005f);
    float sigma_mag =  sqrt(0.002f);
    float sigma_vi =  sqrt(0.002f);
    // 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
    acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn();
    acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn();
    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]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();  // (rad/s)
    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.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn();
    //mag = magMedian.Process(mag);
    //vi.x =  float(vp.viData[0])/1000.0f + sigma_vi*randn();
    //vi.y =  float(vp.viData[1])/1000.0f + sigma_vi*randn();
    //vi.z =  float(vp.viData[2])/1000.0f + sigma_vi*randn();
    
    if(acc.Norm()<0.01f){
        acc.x = 0.0f;
        acc.y = 0.0f;
        acc.z = 1.0f;
        mag.x = 0.113657f;
        mag.y = -0.278425f;
        mag.z = 0.980554f;
    }
}

float randn()
{
    float x = (float)rand()/RAND_MAX;
    float y = (float)rand()/RAND_MAX;
    float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y);
    return z1;
}