solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: imu.cpp
- Revision:
- 68:b9f6938fab9d
- Parent:
- 66:e5afad70fdd8
- Child:
- 70:99f974d8960e
diff -r 41fcdfb7cc5a -r b9f6938fab9d imu.cpp --- a/imu.cpp Tue Jun 22 02:45:43 2021 +0000 +++ b/imu.cpp Mon Jun 28 01:40:26 2021 +0000 @@ -3,13 +3,13 @@ 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]; + accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &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]; + 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; @@ -28,4 +28,4 @@ mag.x = -outputMag[0]; mag.y = -outputMag[1]; mag.z = -outputMag[2]; -} \ No newline at end of file +} \ No newline at end of file