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more calibration

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This commit is contained in:
Alex Mikhalev 2019-05-22 18:45:44 -07:00
parent c1130ca63a
commit cfe26b125f
1 changed files with 3 additions and 2 deletions
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main/ugv_io_mpu.cc
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@ -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 Vec3f ACCEL_OFFSET = {0., 0., 0.};
static const Mat3f ACCEL_MAT = {1., 0., 0., 0., -1., 0., 0., 0., -1.}; 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 = {-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., -0.0281408, 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 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 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"; static const char *TAG = "ugv_io_mpu";