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
imu.cpp
- Committer:
- cocorlow
- Date:
- 2021-12-06
- Revision:
- 139:b378528c05f2
- Parent:
- 119:a21e283730d1
- Child:
- 140:53dbdb207542
File content as of revision 139:b378528c05f2:
//#include "global.hpp" // //void getIMUval() //{ // lsm.readAccel(); // lsm.readMag(); // lsm.readGyro(); // // Matrix accmat(3,1); // accmat << lsm.ax * 9.8f - agoffset[0] << lsm.ay * 9.8f - agoffset[1] << lsm.az * 9.8f - agoffset[2]; // Matrix accAlign = SensorAlignmentAG*accmat; // // acc.x = accAlign(1,1); // acc.y = accAlign(2,1); // acc.z = accAlign(3,1); // // Matrix gyromat(3,1); // gyromat << (lsm.gx * M_PI / 180.0f) - agoffset[3] << (lsm.gy * M_PI / 180.0f) - agoffset[4] << (lsm.gz * M_PI / 180.0f) - agoffset[5]; // Matrix gyroAlign = SensorAlignmentAG*gyromat; // gyro.x = gyroAlign(1,1); // gyro.y = gyroAlign(2,1); // gyro.z = gyroAlign(3,1); // // Matrix magraw(3,1); // magraw << lsm.mx <<lsm.my << lsm.mz; // magraw = SensorAlignmentMAG*magraw; // float inputMag[3]; // float outputMag[3]; // inputMag[0] = magraw(1,1)*1000.0f; // inputMag[1] = magraw(2,1)*1000.0f; // inputMag[2] = magraw(3,1)*1000.0f; // magCalibrator.run(inputMag,outputMag); // mag.x = outputMag[0]; // mag.y = outputMag[1]; // mag.z = outputMag[2]; // //twelite.printf("%f %f %f : %f %f %f\r\n",magraw(1,1),magraw(2,1),magraw(3,1),magmod(1,1),magmod(2,1),magmod(3,1)); // // palt = -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0); // // //printf("%f %f %f %f %f %f %f %f %f\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz); // //printf("%f %f %f\n", lsm.gx, lsm.gy, lsm.gz); // //printf("%f %f %f\n", lsm.mx, lsm.my, lsm.mz); // //float pressure = lps.readPressureMillibars(); // //float altitude = lps.pressureToAltitudeMeters(pressure); // //float temperature = lps.readTemperatureC(); // //twelite.printf("p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C\r\n",pressure,altitude,temperature); //}