teamALI
/
HB2018
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Diff: Imu.cpp
- Revision:
- 70:a7b1e3eec51b
- Parent:
- 62:4b873328d3a8
- Child:
- 71:b821c4c990b7
--- a/Imu.cpp Mon Mar 11 06:24:39 2019 +0000
+++ b/Imu.cpp Mon Mar 11 08:58:28 2019 +0000
@@ -2,6 +2,7 @@
#include "comFunction.h"
#include "globalFlags.h"
#define BAUD_RATE4_6AXIS 115200
+#define YAW_RATE_LIMIT 0.5
//------------------------------------------------------------------
//IMUからのUART受信データをバッファリングする
@@ -78,7 +79,7 @@
yaw = yaw_ref = 0.0f;
gyroZ = gyro_ref = 0;
yawOfset=0;
- yawRateLimit = 1.3 * UPDATE_RATE;//センサ実測値をベースにリミット値決定
+ yawRateLimit = YAW_RATE_LIMIT * UPDATE_RATE;//センサ実測値をベースにリミット値決定
}
//======================================================