Revision 9:a79af1283446, committed 2014-01-10

Comitter:

tyftyftyf

Date:

Fri Jan 10 05:41:40 2014 +0000

Parent:

8:cd43764b9623

Child:

10:4e8ac6acd336

Commit message:

Tuning parameters

Changed in this revision

--- a/FreeIMU.cpp	Mon Dec 23 09:41:27 2013 +0000
+++ b/FreeIMU.cpp	Fri Jan 10 05:41:40 2014 +0000
@@ -45,8 +45,8 @@
     twoKp = twoKpDef;
     twoKi = twoKiDef;
     
-    twoKiz = twoKiDef / 6.0;
-    twoKpz = twoKpDef * 8.0;
+    twoKiz = twoKiDef / 4.0;
+    twoKpz = twoKpDef * 6.0;
     
     integralFBx = 0.0f,  integralFBy = 0.0f, integralFBz = 0.0f;
 
@@ -246,7 +246,7 @@
 */
 void FreeIMU::zeroGyro()
 {
-    const int totSamples = 8;
+    const int totSamples = 64;
     int16_t raw[11];
     float tmpOffsets[] = {0,0,0};
 
@@ -255,7 +255,7 @@
         tmpOffsets[0] += raw[3];
         tmpOffsets[1] += raw[4];
         tmpOffsets[2] += raw[5];
-        Thread::wait(2);
+        Thread::wait(3);
     }
 
     gyro_off_x = tmpOffsets[0] / totSamples;
@@ -263,7 +263,7 @@
     gyro_off_z = tmpOffsets[2] / totSamples;
 }
 
-extern bool magn_valid;
+extern volatile bool magn_valid;
 
 /**
  * Quaternion implementation of the 'DCM filter' [Mayhony et al].  Incorporates the magnetic distortion

--- a/FreeIMU.h	Mon Dec 23 09:41:27 2013 +0000
+++ b/FreeIMU.h	Fri Jan 10 05:41:40 2014 +0000
@@ -106,8 +106,8 @@
 // HMC5843 address is fixed so don't bother to define it
 
 
-#define twoKpDef  (2.0f * 1.0f) // 2 * proportional gain
-#define twoKiDef  (2.0f * 0.6f) // 2 * integral gain
+#define twoKpDef  (2.0f * 3.0f) // 2 * proportional gain
+#define twoKiDef  (2.0f * 0.4f) // 2 * integral gain
 
 #ifndef cbi
 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))

--- a/HMC58X3.lib	Mon Dec 23 09:41:27 2013 +0000
+++ b/HMC58X3.lib	Fri Jan 10 05:41:40 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/tyftyftyf/code/HMC58X3/#8eb12adc8368
+http://mbed.org/users/tyftyftyf/code/HMC58X3/#ea869bfe993b

--- a/calibration.h	Mon Dec 23 09:41:27 2013 +0000
+++ b/calibration.h	Fri Jan 10 05:41:40 2014 +0000
@@ -7,16 +7,16 @@
 
 #define CALIBRATION_H
 
-const int acc_off_x = 291;
-const int acc_off_y = -236;
-const int acc_off_z = -2330;
-const float acc_scale_x = 15073.187570;
-const float acc_scale_y = 16496.811960;
-const float acc_scale_z = 16887.470139;
+const int acc_off_x = 72;
+const int acc_off_y = -8;
+const int acc_off_z = 211;
+const float acc_scale_x = 15827.435944;
+const float acc_scale_y = 16533.974047;
+const float acc_scale_z = 16841.679423;
 
-const int magn_off_x = 41;
-const int magn_off_y = -67;
-const int magn_off_z = -150;
-const float magn_scale_x = 486.457717;
-const float magn_scale_y = 503.317575;
-const float magn_scale_z = 410.482174;
+const int magn_off_x = 56;
+const int magn_off_y = -73;
+const int magn_off_z = -145;
+const float magn_scale_x = 753.324584;
+const float magn_scale_y = 742.324931;
+const float magn_scale_z = 632.931308;