teamALI
/
HB2018
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Diff: Imu.cpp
- Revision:
- 62:4b873328d3a8
- Parent:
- 58:fb7876549148
- Child:
- 67:ad35921e3cdc
- Child:
- 70:a7b1e3eec51b
--- a/Imu.cpp Fri Mar 08 11:43:00 2019 +0000
+++ b/Imu.cpp Mon Mar 11 04:07:43 2019 +0000
@@ -44,7 +44,7 @@
if(dy>=180){yawOfset+=360;}
if(dy<=-180){yawOfset-=360;}
oldYaw -= dy;//次の週で使う過去データ更新
- return iYaw + yawOfset;
+ return oldYaw + yawOfset;
}
//----------------------------------------------------------------
@@ -78,7 +78,7 @@
yaw = yaw_ref = 0.0f;
gyroZ = gyro_ref = 0;
yawOfset=0;
- yawRateLimit = 100.0 * UPDATE_RATE;//センサ実測値をベースにリミット値決定
+ yawRateLimit = 1.3 * UPDATE_RATE;//センサ実測値をベースにリミット値決定
}
//======================================================