David k
/
MPU9255AHRS-KOMPAS
Kalibrasi AVRG
Diff: MPU9250.h
- Revision:
- 5:dbb770470110
- Parent:
- 3:bf624b3ae5b9
diff -r cd99bf0e7502 -r dbb770470110 MPU9250.h --- a/MPU9250.h Wed Oct 24 13:05:04 2018 +0000 +++ b/MPU9250.h Wed Oct 24 14:56:25 2018 +0000 @@ -213,7 +213,7 @@ // parameters for 6 DoF sensor fusion calculations float PI = 3.14159265358979323846f; float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 -float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta +float beta = sqrt(1.0f / 4.0f) * GyroMeasError; // compute beta float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral