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: hil.cpp
- Revision:
- 90:96c2b0ed4b96
- Parent:
- 84:ff48e01ea76b
- Child:
- 92:00460f6df439
--- a/hil.cpp Mon Oct 25 05:39:34 2021 +0000 +++ b/hil.cpp Tue Oct 26 05:36:18 2021 +0000 @@ -12,25 +12,28 @@ rpy_align.x = 0.0f; rpy_align.y = 0.0f; accref.z = 1.0f; - float sigma_acc = sqrt(0.000020f); + float sigma_acc = sqrt(0.00020f); 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(); + // 加速度値を分解能で割って加速度(m/s^2)に変換する + acc.x = 9.8f*float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g + acc.y = 9.8f*float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn(); + acc.z = 9.8f*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.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); + + //GPSの速度情報m/s 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();