solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: hil.cpp
- Revision:
- 75:a505b9896da1
- Parent:
- 74:f67062e7813e
- Child:
- 76:7fd3ac1afe3e
diff -r f67062e7813e -r a505b9896da1 hil.cpp --- a/hil.cpp Tue Jul 20 05:52:29 2021 +0000 +++ b/hil.cpp Tue Jul 20 11:57:05 2021 +0000 @@ -7,7 +7,7 @@ accref.z = 1.0f; float sigma_acc = sqrt(0.000020f); float sigma_gyro = sqrt(0.000005f); - float sigma_mag = sqrt(0.002f); + float sigma_mag = sqrt(0.00001f); // 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 @@ -19,8 +19,8 @@ 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.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); + mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn(); mag = magMedian.Process(mag); if(acc.Norm()<0.01f || mag.Norm() < 0.001f){