Diff: imu.cpp

Revision:

87:89bbbcdb667b

Parent:

76:7fd3ac1afe3e

Child:

88:be349faa1976

--- a/imu.cpp	Mon Oct 18 12:18:15 2021 +0000
+++ b/imu.cpp	Wed Oct 20 01:50:52 2021 +0000
@@ -2,42 +2,5 @@
 
 void getIMUval()
 {
-    // gx gy gz ax ay az
-    //accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
-    ax = accelgyro.getAccelerationX() - agoffset[0];
-    ay = accelgyro.getAccelerationY() - agoffset[1];
-    az = accelgyro.getAccelerationZ() - agoffset[2];
-    gx = accelgyro.getRotationX() - agoffset[3];
-    gy = accelgyro.getRotationY() - agoffset[4];
-    gz = accelgyro.getRotationZ() - 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 = mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f);  //FS_SEL_0 16,384 LSB / g
-    acc.y = mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f);
-    acc.z = mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f);
-    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(gx) / GYRO_SSF * 0.0174533f;  // (rad/s)
-    gyro.y = float(gy) / GYRO_SSF * 0.0174533f;
-    gyro.z = float(gz) / GYRO_SSF * 0.0174533f;
-    gyro = gyroMedian.Process(gyro);
-    mag_sensor.getAxis(mdata); // flush the magnetmeter
-    float magval[3] = {0.0f, 0.0f, 0.0f};
-    magval[0] = (mdata.x - magbias[0]);
-    magval[1] = (mdata.y - magbias[1]);
-    magval[2] = (mdata.z - magbias[2]);
-    mag.x = -magval[1]/magbias[3];
-    mag.y = -magval[0]/magbias[3];
-    mag.z =  magval[2]/magbias[3];
-    /*
-    float inputMag[3];
-    float outputMag[3];
-    inputMag[0] = mdata.x;
-    inputMag[1] = mdata.y;
-    inputMag[2] = mdata.z;
-    magCalibrator.run(inputMag,outputMag);
-    mag.x = -outputMag[1];
-    mag.y = -outputMag[0];
-    mag.z =  outputMag[2];
-    */
-    mag = magMedian.Process(mag);
+    
 }   
\ No newline at end of file