Diff: global.cpp

Revision:

75:a505b9896da1

Parent:

74:f67062e7813e

Child:

76:7fd3ac1afe3e

--- a/global.cpp	Tue Jul 20 05:52:29 2021 +0000
+++ b/global.cpp	Tue Jul 20 11:57:05 2021 +0000
@@ -56,13 +56,14 @@
 float motorOut[1] = {1100.0f};
 
 int calibrationFlag = 0;
-int agoffset[6] = {0, 0, 0, -616, -108, 60};
-float magbiasMin[3] = {-177.574768, 90.129456, -199.611603};
-float magbiasMax[3] = {-108.064606, 160.956711, -125.601234};
-float accMin[3] = {-0.958801, -1.016878, -1.054199};
-float accMax[3] = { 1.050249, 0.965697, 0.946194};
+int agoffset[6] = {0, 0, 0, -578, -88, 31};
+float magbiasMin[3] = {-174.831711, 93.465691, -188.617172};
+float magbiasMax[3] = {-110.413963, 162.321548, -122.566071};
+float accMin[3] = {-0.963692, -0.974141, -1.012899};
+float accMax[3] = { 1.025954, 0.974748, 0.987155};
 
-Vector3 rpy_align(8.798061f*M_PI/180.0f, 0.953862f*M_PI/180.0f, 0.0f*M_PI/180.0f);
+Vector3 rpy_align(8.201975f*M_PI/180.0f, -0.250809f*M_PI/180.0f, 0.0f*M_PI/180.0f
+);
 
 
 // UsaPack