Team Virgo v3
Implement new controller
Dependencies: mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo
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Orion_newPCB_test
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Team Virgo v3
Configuration/imuCalib.h@2:761e3c932ce0, 2016-01-18 (annotated)
- Committer:
- akashvibhute
- Date:
- Mon Jan 18 06:00:43 2016 +0000
- Revision:
- 2:761e3c932ce0
guess this is the initial commit :P
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 |