Nucleo-64 version
Dependents: particle_filter_test read_sensor_data Bike_Sensor_Fusion Encoder ... more
Diff: LSM9DS0.cpp
- Revision:
- 17:5b28bc7fd9ba
- Parent:
- 16:682ed25a1f5d
--- a/LSM9DS0.cpp Thu Mar 26 07:34:17 2020 +0000 +++ b/LSM9DS0.cpp Thu Jun 11 13:41:02 2020 +0000 @@ -876,7 +876,7 @@ pitchAcc = (float)atan2f(-data[1], -data[2])*180.0f/PI;//Let Z toggle to avoid pi to -pi transition. /* Apply Complementary Filter */ - roll = roll * 0.98f + rollAcc * 0.02f; + roll = roll * 0.97f + rollAcc * 0.03f; // pitch = pitch * 0.9f + pitchAcc * 0.1f;//0.95 // pitch = pitch * 0.94f + pitchAcc * 0.06f;//0.95 // if(pitch < 0)// = (pitch > 0 )? pitch:pitch;