Implement new controller
Dependencies: mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo
Fork of Orion_newPCB_test by
Configuration/imuCalib.h@30:44676e1b38f8, 2018-03-20 (annotated)
- Committer:
- ahmed_lv
- Date:
- Tue Mar 20 05:56:22 2018 +0000
- Revision:
- 30:44676e1b38f8
- Parent:
- 2:761e3c932ce0
Editted Input Variables to PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 2:761e3c932ce0 | 1 | #ifndef imuCalib_H |
akashvibhute | 2:761e3c932ce0 | 2 | #define imuCalib_H |
akashvibhute | 2:761e3c932ce0 | 3 | |
akashvibhute | 2:761e3c932ce0 | 4 | //** IMU offsets ******************************** |
akashvibhute | 2:761e3c932ce0 | 5 | #define MPU6050_Offset_Ax 150 |
akashvibhute | 2:761e3c932ce0 | 6 | #define MPU6050_Offset_Ay -350 |
akashvibhute | 2:761e3c932ce0 | 7 | #define MPU6050_Offset_Az 1000 |
akashvibhute | 2:761e3c932ce0 | 8 | #define MPU6050_Offset_Gx -110 |
akashvibhute | 2:761e3c932ce0 | 9 | #define MPU6050_Offset_Gy 5 |
akashvibhute | 2:761e3c932ce0 | 10 | #define MPU6050_Offset_Gz 0 |
akashvibhute | 2:761e3c932ce0 | 11 | |
akashvibhute | 2:761e3c932ce0 | 12 | //** IMU yaw drift correction polynomial ******** |
akashvibhute | 2:761e3c932ce0 | 13 | #define kp1 2.207/(1000*1000*10) |
akashvibhute | 2:761e3c932ce0 | 14 | #define kp2 -7.921/1000 |
akashvibhute | 2:761e3c932ce0 | 15 | #define kp3 -0.1917 |
akashvibhute | 2:761e3c932ce0 | 16 | #define eq_correction 0.01 |
akashvibhute | 2:761e3c932ce0 | 17 | |
akashvibhute | 2:761e3c932ce0 | 18 | #endif |