From cfe26b125f1da84b4ada69b6b23d7c56286e7935 Mon Sep 17 00:00:00 2001 From: Alex Mikhalev Date: Wed, 22 May 2019 18:45:44 -0700 Subject: [PATCH] more calibration --- main/ugv_io_mpu.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc index 643e393..fe4311b 100644 --- a/main/ugv_io_mpu.cc +++ b/main/ugv_io_mpu.cc @@ -23,11 +23,12 @@ static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f); static const Vec3f ACCEL_OFFSET = {0., 0., 0.}; static const Mat3f ACCEL_MAT = {1., 0., 0., 0., -1., 0., 0., 0., -1.}; //static const Vec3f MAG_OFFSET = {-7.79683, 3.6735, 32.3868}; -static const Vec3f MAG_OFFSET = {-118.902, 18.8173, -39.209}; +//static const Vec3f MAG_OFFSET = {-118.902, 18.8173, -39.209}; +static const Vec3f MAG_OFFSET = {-135.994629, 19.117216, -33.0}; //static const Mat3f MAG_MAT = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544}; static const Mat3f MAG_MAT = {0., -0.0335989, 0., -0.0330167, 0., 0., 0., 0., 0.0335989}; -static const Mat3f GYRO_MAT = {1., 0., 0., 0., -1., 0., 0., 0., 1.}; static const Vec3f GYRO_OFFSET = {-4.33655, -2.76826, -0.908427}; +static const Mat3f GYRO_MAT = {1., 0., 0., 0., -1., 0., 0., 0., 1.}; static const char *TAG = "ugv_io_mpu";