Diff: LSM9DS0.cpp

Revision:

14:91137af62732

Parent:

13:2a88692b1525

Child:

15:d433a3236219

--- a/LSM9DS0.cpp	Tue Jul 09 03:17:00 2019 +0000
+++ b/LSM9DS0.cpp	Tue Sep 03 05:18:23 2019 +0000
@@ -870,20 +870,21 @@
     /* Integrate the gyro data(deg/s) over time to get angle */
     pitch += data[5] * dt;  // Angle around the Z-axis
     roll +=  data[3] * dt;  // Angle around the X-axis
-    
+
     /* Turning around the X-axis results in a vector on the Y-axis
     whereas turning around the Y-axis results in a vector on the X-axis. */
     pitchAcc = (float)atan2f(data[0], -data[2])*180.0f/PI;
     rollAcc  = (float)atan2f(-data[1], -data[2])*180.0f/PI;//Let Z toggle to avoid pi to -pi transition.
   
     /* Apply Complementary Filter */
-//    pitch = pitch * 0.999f + pitchAcc * 0.001f;
+    pitch = pitch * 0.98f + pitchAcc * 0.02f;
 //    pitch = pitch * 0.9f + pitchAcc * 0.1f;//0.95
-    pitch = pitch * 0.94f + pitchAcc * 0.06f;//0.95
+//    pitch = pitch * 0.94f + pitchAcc * 0.06f;//0.95
 //    if(pitch < 0)// = (pitch > 0 )? pitch:pitch;
 //        pitch = -1*pitch;
 //    roll  = roll  * 0.9f + rollAcc  * 0.1f;
 
     roll  = roll  * 0.94f + rollAcc  * 0.06f;
+
 //    roll = (roll > 0 )? roll:180.0f+roll;
 }
\ No newline at end of file