Atsumi Toda
/
UAV_Logger1
UAVの姿勢推定に使用するプログラム。
myConstants.h
- Committer:
- Joeatsumi
- Date:
- 2019-05-24
- Revision:
- 2:e6496a794bde
- Child:
- 4:21a356ae0747
File content as of revision 2:e6496a794bde:
#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)