LDSC_Robotics_TAs / LSM9DS0

Nucleo-64 version

Dependents:   particle_filter_test read_sensor_data Bike_Sensor_Fusion Encoder ... more

Diff: LSM9DS0.cpp

Revision:
13:2a88692b1525
Parent:
12:916e91f73bc0
Child:
14:91137af62732
diff -r 916e91f73bc0 -r 2a88692b1525 LSM9DS0.cpp
--- a/LSM9DS0.cpp	Thu Jun 27 13:30:53 2019 +0000
+++ b/LSM9DS0.cpp	Tue Jul 09 03:17:00 2019 +0000
@@ -878,7 +878,8 @@
   
     /* Apply Complementary Filter */
 //    pitch = pitch * 0.999f + pitchAcc * 0.001f;
-    pitch = pitch * 0.9f + pitchAcc * 0.1f;//0.95
+//    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;
 //        pitch = -1*pitch;
 //    roll  = roll  * 0.9f + rollAcc  * 0.1f;