Eigen Revision
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: imu.cpp
- Revision:
- 102:1c77ff6e2a85
- Parent:
- 101:200e98dad7f8
- Child:
- 104:20b8caa29185
--- a/imu.cpp Sun Nov 07 05:38:17 2021 +0000 +++ b/imu.cpp Mon Nov 08 09:20:21 2021 +0000 @@ -23,11 +23,11 @@ Matrix magraw(3,1); magraw << lsm.mx <<lsm.my << lsm.mz; - float magres = magCalibrator.calcResidial(magraw); - if(magres>0.01){ - magCalibrator.updateParams(magraw,0.0001f); + magres = magCalibrator.calcResidial(magraw); + if(magres > magresThreshold){ + magCalibrator.updateParams(magraw,0.001f); }; - Matrix magmod = magCalibrator.outCalibratedMag(magraw); + Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw); mag.x = magmod(1,1); mag.y = magmod(2,1); mag.z = magmod(3,1);