more work on calibration

calib/calibgyro.nb

@@ -10,10 +10,10 @@
 NotebookFileLineBreakTest
 NotebookFileLineBreakTest
 NotebookDataPosition[       158,          7]
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+NotebookOutlinePosition[    169092,       3729]
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+CellTagsIndexPosition[    169049,       3726]
 WindowFrame->Normal*)
 
 (* Beginning of Notebook Content *)
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+    RowBox[{"\"\<ugv2_rest.csv\>\"", ",", 
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@@ -43,12 +43,13 @@ Cell[BoxData[{
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-Cell[71643, 1641, 364, 7, 35, "Output",ExpressionUUID->"324450e0-efaa-4874-813e-26827ab7e928"],
+Cell[64369, 1522, 364, 7, 35, "Output",ExpressionUUID->"324450e0-efaa-4874-813e-26827ab7e928"],
-Cell[72010, 1650, 387, 8, 35, "Output",ExpressionUUID->"54298d47-7b8b-469d-b52b-3f8da3de3be2"]
+Cell[64736, 1531, 387, 8, 35, "Output",ExpressionUUID->"54298d47-7b8b-469d-b52b-3f8da3de3be2"]
 }, Open  ]],
 Cell[CellGroupData[{
-Cell[72434, 1663, 381, 9, 55, "Input",ExpressionUUID->"cbc8f16e-97a5-475f-8071-d73aef03f302"],
+Cell[65160, 1544, 381, 9, 55, "Input",ExpressionUUID->"cbc8f16e-97a5-475f-8071-d73aef03f302"],
-Cell[72818, 1674, 18946, 328, 374, "Output",ExpressionUUID->"eafe3610-11d1-4605-afee-d4fdf3dc26c4"]
+Cell[65544, 1555, 18946, 328, 374, "Output",ExpressionUUID->"eafe3610-11d1-4605-afee-d4fdf3dc26c4"]
 }, Open  ]],
 Cell[CellGroupData[{
-Cell[91801, 2007, 288, 5, 55, "Input",ExpressionUUID->"c3a95ca1-f798-4a77-a332-82397c454067"],
+Cell[84527, 1888, 288, 5, 55, "Input",ExpressionUUID->"c3a95ca1-f798-4a77-a332-82397c454067"],
-Cell[92092, 2014, 10949, 313, 242, "Output",ExpressionUUID->"56e9edd5-bbf4-46aa-81e4-1926050b9e16"]
+Cell[84818, 1895, 10949, 313, 242, "Output",ExpressionUUID->"56e9edd5-bbf4-46aa-81e4-1926050b9e16"]
 }, Open  ]],
 Cell[CellGroupData[{
-Cell[103078, 2332, 349, 6, 31, "Input",ExpressionUUID->"25184dae-8e32-46f2-b4df-4067e177155f"],
+Cell[95804, 2213, 349, 6, 31, "Input",ExpressionUUID->"25184dae-8e32-46f2-b4df-4067e177155f"],
-Cell[103430, 2340, 72585, 1490, 392, "Output",ExpressionUUID->"361b115e-8f0f-45ab-83e8-7704c0daae6c"]
+Cell[96156, 2221, 72585, 1490, 392, "Output",ExpressionUUID->"361b115e-8f0f-45ab-83e8-7704c0daae6c"]
 }, Open  ]]
 }
 ]

main/ugv_io_mpu.cc

@@ -21,11 +21,11 @@ static constexpr mpud::gyro_fs_t  MPU_GYRO_FS     = mpud::GYRO_FS_500DPS;
 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 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 Mat3f MAG_MAT      = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
-static const Mat3f MAG_MAT      = {0.0330167, 0., 0., 0., 0.0335989, 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};