![](/media/cache/profiles/DSC_0001.jpg.50x50_q85.jpg)
ドローン用計測制御基板の作り方vol.2で使用したピッチ制御プログラムです。
Dependencies: mbed MPU6050_alter SDFileSystem
Diff: myConstants.h
- Revision:
- 0:e647f6de3d26
diff -r 000000000000 -r e647f6de3d26 myConstants.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/myConstants.h Fri Mar 06 15:03:57 2020 +0000 @@ -0,0 +1,37 @@ +#pragma once + +/* Math Constants */ +#define NEARLY_ZERO 0.000000001f +#define ZERO_TOLERANCE 0.000001f +#define RAD_TO_DEG 57.2957795f // 180 / π +#define DEG_TO_RAD 0.0174532925f // π / 180 + +/* Accelerometer */ +#define ACC_LSB_TO_G 0.0000610351562f // g/LSB (1/2^14 +#define G_TO_MPSS 9.8f // (m/s^2)/g + +/* Gyro Sensor */ +//#define GYRO_LSB_TO_DEG 0.0304878048f // deg/LSB (1/32.8 +#define GYRO_LSB_TO_DEG 0.0152671755f // deg/LSB (1/65.5 +//#define GYRO_LSB_TO_DEG 0.00763358778f // deg/LSB (1/131 + +/* Pressure Sensor */ +#define PRES_LSB_TO_HPA 0.000244140625f // hPa/LSB (1/4096 + +inline float TempLsbToDeg(short int temp) { + return (42.5f + (float)temp * 0.00208333333f); // degree_C = 42.5 + temp / 480; +} + +/* GPS */ +#define GPS_SQ_E 0.00669437999f // (第一離心率)^2 +#define GPS_A 6378137.0f // 長半径(赤道半径)(m) +#define GPS_B 6356752.3f // 短半径(極半径)(m) + +/* Geomagnetic Sensor */ +#define MAG_LSB_TO_GAUSS 0.00092f // Gauss/LSB +#define MAG_MAGNITUDE 0.46f // Magnitude of GeoMagnetism (Gauss) +#define MAG_SIN -0.754709580f // Sin-Value of Inclination +#define MAG_DECLINATION 7.5f // declination (deg) + +/* ADC */ +#define ADC_LSB_TO_V 0.000050354f // 3.3(V)/65535(LSB) \ No newline at end of file