Diff: SPI_9dSensor.h

Revision:

12:60593247555d

Parent:

10:3b952ea7fad4

--- a/SPI_9dSensor.h	Wed Jan 18 15:48:47 2017 +0000
+++ b/SPI_9dSensor.h	Wed Feb 22 09:49:44 2017 +0000
@@ -22,23 +22,25 @@
 #define INDEX_MAGN_Y    8
 #define INDEX_MAGN_Z    9
 
-#define GX_offset   35
-#define GY_offset   -28
-#define GZ_offset   151
-#define AX_offset   -715///-908
-#define AY_offset   -501
-#define AZ_offset   215
+// sensor correction
+#define GX_offset   50.095//35
+#define GY_offset   56.249//same
+#define GZ_offset   1.862//151
+#define AX_offset   -651.6106//-715///-908
+#define AY_offset   -697.9139//-501
+#define AZ_offset   218.8919//215
 #define MX_offset   136
 #define MY_offset   -108
 #define MZ_offset   -102
 
+// Gain of Gyro and Acce
 #define Mag_backgnd 0.36435f ///gauss, Magnetic field in Hsinchu
-#define Gyro_gainx  0.001065f///2000dps/2^15 = 61 miliDegree/s = 0.001065rad/s
-#define Gyro_gainy  0.001065f///0.001212716
-#define Gyro_gainz  0.001065f///0.0012375596
-#define Acce_gainx  -0.002394f///=8*9.81/2^15
-#define Acce_gainy  -0.002394f///=8*9.81/2^15
-#define Acce_gainz  -0.002394f///=8*9.81/2^15
+#define Gyro_gainx  0.002422966362920f///2000dps/2^15 = 61 miliDegree/s = 0.001065rad/s
+#define Gyro_gainy  0.002422966362920f///0.001212716
+#define Gyro_gainz  0.002422966362920f///0.0012375596
+#define Acce_gainx  -0.002404245422390f///=8*9.81/2^15
+#define Acce_gainy  -0.002344293490135f///=8*9.81/2^15
+#define Acce_gainz  -0.002307390759185f///=8*9.81/2^15
 #define Magn_gain   0.000244f ///8gauss/2^15 = 0.000244gauss
 
 extern SPI sensor_LSM9D;