Qinchen Gu
/
IMUfilter
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Fork of
IMUfilter
by 
Abe Takumi
Revision 3:a2f4c5c123e6, committed 2014-03-23
- Comitter:
- guqinchen
- Date:
- Sun Mar 23 22:06:54 2014 +0000
- Parent:
- 2:fae851819c43
- Commit message:
- Project Specific Changes
Changed in this revision
| IMUfilter.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/IMUfilter.h Fri Jul 05 04:17:19 2013 +0000
+++ b/IMUfilter.h Sun Mar 23 22:06:54 2014 +0000
@@ -4,16 +4,6 @@
#include "mbed.h"
#define PI 3.1415926536
-#define g0 9.812865328//Gravity at Earth's surface in m/s/s
-#define SAMPLES 4//Number of samples to average.
-#define CALIBRATION_SAMPLES 64//128//Number of samples to be averaged for a null bias calculation//during calibration.
-#define toDegrees(x) (x * 57.2957795)//Convert from radians to degrees.
-#define toRadians(x) (x * 0.01745329252)//Convert from degrees to radians.
-#define GYROSCOPE_GAIN (1 / 14.375)//ITG-3200 sensitivity is 14.375 LSB/(degrees/sec).
-#define ACCELEROMETER_GAIN (0.004 * g0)//Full scale resolution on the ADXL345 is 4mg/LSB.
-#define GYRO_RATE 0.005//Sampling gyroscope at 200Hz.
-#define ACC_RATE 0.005//Sampling accelerometer at 200Hz.
-#define FILTER_RATE 0.1//Updating filter at 40Hz.
class IMUfilter {