Diff: hil.cpp

Revision:

83:e69ab831031c

Parent:

82:c183c29d2427

Child:

84:ff48e01ea76b

--- a/hil.cpp	Thu Sep 16 09:30:21 2021 +0000
+++ b/hil.cpp	Wed Sep 22 09:30:45 2021 +0000
@@ -12,10 +12,10 @@
     rpy_align.x = 0.0f;
     rpy_align.y = 0.0f;
     accref.z =  1.0f;
-    float sigma_acc =  0.0045;
-    float sigma_gyro = 0.0022;
-    float sigma_mag =  0.0032;
-    float sigma_vi =  0.32;
+    float sigma_acc =  sqrt(0.000020f);
+    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
@@ -27,15 +27,15 @@
     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[1])/1000.0f + sigma_mag*randn();
-    mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn();
-    mag.z =  float(vp.magData[2])/1000.0f + sigma_mag*randn();
-    mag = magMedian.Process(mag);
-    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();
+    //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);
+    //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();
     
-    if(acc.Norm()<0.01f || mag.Norm() < 0.001f){
+    if(acc.Norm()<0.01f){
         acc.x = 0.0f;
         acc.y = 0.0f;
         acc.z = 1.0f;