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fix mpu math stuff

master
Alex Mikhalev 6 years ago
parent
5a67fe5e8f
commit
d07517b2e9
1 changed files with 5 additions and 3 deletions
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  1. 8
      main/ugv_io_mpu.cc

8
main/ugv_io_mpu.cc
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@ -5,7 +5,7 @@
#include <math.h> #include <math.h>
constexpr float M_PI = atanf(1.f) * 4; constexpr float M_PI = 3.1415926535897932384626433832795;
#include "MPU.hpp" #include "MPU.hpp"
#include "i2c_mutex.h" #include "i2c_mutex.h"
@ -22,8 +22,10 @@ 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 Mat3f MAG_MAT = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544}; static const Vec3f MAG_OFFSET = {0., 0., 0.};
//static const Mat3f MAG_MAT = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
static const Mat3f MAG_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.}; static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
static const Vec3f GYRO_OFFSET = {0., 0., 0.}; static const Vec3f GYRO_OFFSET = {0., 0., 0.};

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