Recalibrate again
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parent
990dc93f8c
commit
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7269
calib/calib.nb
7269
calib/calib.nb
File diff suppressed because it is too large
Load Diff
@ -10,10 +10,10 @@
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NotebookFileLineBreakTest
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NotebookFileLineBreakTest
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NotebookFileLineBreakTest
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NotebookFileLineBreakTest
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t6ectcz5p49i++H0xpkv1Dp3pgWK2v79KupC4P4kDec59NdYlrs+zdd/30j9
|
|
||||||
hdp0TJwrZWVIWR+zTGO+X8xynwyXOH18xOdvpDMytq36V5sfVru3vtrBDaLc
|
|
||||||
vv7iJ38XBPDvm2Xh9IxTFUXe/LwH5dR6yWLNy5Cd3fuT6cstE/PFNjZ8P4Y0
|
|
||||||
xN9QX2YZzkNYr6SjvjQRZ8b14uuBLMP+/F/W1Ca5nMv2wJw2e/DLWBumB219
|
|
||||||
KNWfh1jgam6QEWdJGfJFHLann0Q8kOmUh3dLh84MwliS6y8Xt4SQzlnyq69o
|
|
||||||
rR9+hD9ba35Bgli2n9oxlzP14O8v0gKDpuxJmY0l0L9kGeo5cH+RvlT2oP72
|
|
||||||
cQkfr7GcFRjtEVwlQfjAivZ4jTUm3Rr/99E3L+VIEN40EIlLQ97Vz9NajsXK
|
|
||||||
/FBP/wCxDPEi9NtIC46ubE7WeuDcufGqbdZs8/WIzCWqKaoAyrCfIV5nGQd1
|
|
||||||
tN5M98eCif1eB4tvhJCG3y/SHG42qxBilo0jDkZX2Vjy8SdpyMcgnmRZMNM3
|
|
||||||
TlGmz0fvC16p6r0oQ/0Y9h/L7fo0b2+Bgu+PkU4f+dR5fGkwQutPGAi7elE2
|
|
||||||
H/vaUWkQjISmN/uHx1kxLb94yPnDO2/r0aR9+21+0GuIFD2a0LxmTDLHNNQr
|
|
||||||
YF6GNMxTQX2eZZhvi1J/3NES4UUZ+u0btzY8d+xyQixDP9O2+/ujPCNz8DcH
|
|
||||||
2yQIyV4bNEY6M734s/acgTI5Ut5aGab1GYBJ3zxY9lAf36PCOvOuZJ070+lT
|
|
||||||
X7rmGQTy9VrSVpP+ct9XGsjHwyzDfAb070nDPEblRf2BpJIynXf5lOMchwCU
|
|
||||||
O6lxdXicL+Xj7SUungfexs8sq5X1r1bqakqyuutVlLd/tyfptEyCc+OfqPT5
|
|
||||||
JNOdi8/N3bAiGCt9PrCs63SgHDjjRHBTqYzf7yxr4xJ2FmkMMNz/pO+n98vZ
|
|
||||||
clbKz3OxLBQbf2uvMcGuCxNXHY5WUN76770Jp14G8fE4y5dySjIvegTz/TbS
|
|
||||||
/4TXt/b74rFd7mvaEvyYhnk99U9+K1sjgijD5xeNerxCHz8xDf1FUXe+TRnq
|
|
||||||
GVNMrDdIxVKm8+bFpZ/Ps0GVbYNT6zl/ylkbbvt/USbG6Yf0C8jGlzLMb0B8
|
|
||||||
yzLUAyAeIg31BJi3YZmrfb5tZ1wvzK2cl3rPOpAynJcwr8Qy1HOhnkEa+tOw
|
|
||||||
/liGeQVz45MbfHSBlOH9QL+W5e3d9xM/X0L6V+ua9vGVb/NTlmG9ZmUeMU7Q
|
|
||||||
9EGkJ7q0Sl9Ee/DzDiyjcY1PjDON386/kO7J7yGfYHn+DUt89XdPvn9LGuZ5
|
|
||||||
bX+bbjA934npylMnD3b9FcjfJ6ShPg/9SZaN86XrrtXb8vOJpKFeCvUelqHf
|
|
||||||
prUUD93ODcKkYb7tv3lgvi/TUI+sdP6jI1kbQBniV/nerYLFDRKm4X6FefB3
|
|
||||||
NdS3YP6YNMwzw7wHy1D/w0afaNtibRBpiHd77iO2RwQub4wR4p56PWWYl4H5
|
|
||||||
O9Lro90/0edXKMrznkmxxoXpERUtdU8fi5FAIMhqu5R1gTTMw0L+x/LuR8NO
|
|
||||||
G6vs+XiXNMxzor+UuoOxr0pYhvom1PtI8/W2hdd+kooNEMtfN35fFbA/kK8v
|
|
||||||
kN75fulv+ngYJ4xrSJWOEDMN9VWoN5OOKj2bt7jhPRQ1K653cn0Q07DfIT8h
|
|
||||||
bTi76mTNikDU3j2/zzTMy8DfK5CG/l7CJpcBoZEipnGOeNqYpc58P4E01Cvg
|
|
||||||
7zFYfvmDt98oF2++f08a4heop7EM77Mn3qYM/bPCWTfSUl0lTHuO/zPeeLMn
|
|
||||||
hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
|
|
||||||
/gOf7fOS
|
|
||||||
"]]}, {}}, {}, {}, {}, {}},
|
"]]}, {}}, {}, {}, {}, {}},
|
||||||
AspectRatio->1,
|
AspectRatio->1,
|
||||||
Axes->{True, True},
|
Axes->{True, True},
|
||||||
@ -670,7 +466,8 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
|
|||||||
Part[#, 1]],
|
Part[#, 1]],
|
||||||
(Identity[#]& )[
|
(Identity[#]& )[
|
||||||
Part[#, 2]]}& )}},
|
Part[#, 2]]}& )}},
|
||||||
PlotRange->{{-30.2876665, 30.2876665}, {-30.2876665, 30.2876665}},
|
PlotRange->{{-0.19342117736486603`,
|
||||||
|
0.20331882263513398`}, {-0.19342117736486603`, 0.20331882263513398`}},
|
||||||
PlotRangeClipping->True,
|
PlotRangeClipping->True,
|
||||||
PlotRangePadding->{{
|
PlotRangePadding->{{
|
||||||
Scaled[0.02],
|
Scaled[0.02],
|
||||||
@ -679,8 +476,9 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
|
|||||||
Scaled[0.05]}},
|
Scaled[0.05]}},
|
||||||
Ticks->{Automatic, Automatic}]], "Output",
|
Ticks->{Automatic, Automatic}]], "Output",
|
||||||
CellChangeTimes->{{3.764181801868524*^9, 3.764181830670013*^9},
|
CellChangeTimes->{{3.764181801868524*^9, 3.764181830670013*^9},
|
||||||
3.764182159643732*^9, 3.766446504295293*^9},
|
3.764182159643732*^9, 3.766446504295293*^9, {3.768086496400185*^9,
|
||||||
CellLabel->"Out[12]=",ExpressionUUID->"453d177f-229c-4e4d-9047-ac6236f40828"]
|
3.768086498696702*^9}, {3.76841464737634*^9, 3.7684146528229427`*^9}},
|
||||||
|
CellLabel->"Out[12]=",ExpressionUUID->"1d554580-aa2a-4451-b7af-f5450670c8cd"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
|
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
@ -3713,7 +3511,7 @@ Cell[BoxData[
|
|||||||
}, Open ]]
|
}, Open ]]
|
||||||
},
|
},
|
||||||
WindowSize->{808, 911},
|
WindowSize->{808, 911},
|
||||||
WindowMargins->{{486, Automatic}, {68, Automatic}},
|
WindowMargins->{{496, Automatic}, {6, Automatic}},
|
||||||
FrontEndVersion->"11.3 for Linux x86 (64-bit) (March 6, 2018)",
|
FrontEndVersion->"11.3 for Linux x86 (64-bit) (March 6, 2018)",
|
||||||
StyleDefinitions->"Default.nb"
|
StyleDefinitions->"Default.nb"
|
||||||
]
|
]
|
||||||
@ -3730,54 +3528,54 @@ CellTagsIndex->{}
|
|||||||
Notebook[{
|
Notebook[{
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[580, 22, 253, 4, 31, "Input",ExpressionUUID->"bb7c7b01-0cfa-4c90-a2db-09590ed14465"],
|
Cell[580, 22, 253, 4, 31, "Input",ExpressionUUID->"bb7c7b01-0cfa-4c90-a2db-09590ed14465"],
|
||||||
Cell[836, 28, 189, 2, 35, "Output",ExpressionUUID->"d714e440-83e1-402e-946a-6ad01a10cf86"]
|
Cell[836, 28, 211, 2, 35, "Output",ExpressionUUID->"0eab2c4f-7621-4c04-9e0b-8e5afd9a6f03"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[1040, 33, 774, 18, 55, "Input",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
|
Cell[1062, 33, 820, 18, 55, "Input",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
|
||||||
Cell[1817, 53, 1197, 31, 78, "Input",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
|
Cell[1885, 53, 1196, 31, 78, "Input",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[3039, 88, 214, 3, 31, "Input",ExpressionUUID->"55fc2693-bfc0-4284-878d-723d16de613e"],
|
Cell[3106, 88, 213, 3, 31, "Input",ExpressionUUID->"55fc2693-bfc0-4284-878d-723d16de613e"],
|
||||||
Cell[3256, 93, 10004, 182, 384, "Output",ExpressionUUID->"48a7598a-c3ad-4fbe-8b50-040c41a68393"]
|
Cell[3322, 93, 8029, 148, 372, "Output",ExpressionUUID->"eb2c92e0-4afd-4eb4-9330-d131ec0d4593"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[13297, 280, 383, 6, 31, "Input",ExpressionUUID->"f29f83fe-0d9c-4ec9-a48d-4ac4733e0b37"],
|
Cell[11388, 246, 382, 6, 31, "Input",ExpressionUUID->"f29f83fe-0d9c-4ec9-a48d-4ac4733e0b37"],
|
||||||
Cell[13683, 288, 412, 8, 35, "Output",ExpressionUUID->"0176ee7a-c016-4715-9be7-f468c8a52979"]
|
Cell[11773, 254, 474, 8, 35, "Output",ExpressionUUID->"d58dad50-941a-461c-8ff3-0155723bca4b"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[14132, 301, 290, 5, 31, "Input",ExpressionUUID->"9c3fe212-89fa-46ec-bed5-0affe4811ced"],
|
Cell[12284, 267, 289, 5, 31, "Input",ExpressionUUID->"9c3fe212-89fa-46ec-bed5-0affe4811ced"],
|
||||||
Cell[14425, 308, 299, 6, 35, "Output",ExpressionUUID->"12ffca60-31f1-4604-bc28-c70d0430498e"]
|
Cell[12576, 274, 364, 7, 35, "Output",ExpressionUUID->"64c8e865-c899-48c1-a914-9e14ee85432b"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[14761, 319, 452, 11, 57, "Input",ExpressionUUID->"ba904e9b-6ade-4303-bb25-888ab020ce48"],
|
Cell[12977, 286, 451, 11, 57, "Input",ExpressionUUID->"ba904e9b-6ade-4303-bb25-888ab020ce48"],
|
||||||
Cell[15216, 332, 304, 6, 35, "Output",ExpressionUUID->"321c1e77-a353-4be9-9632-d9517a3816e7"]
|
Cell[13431, 299, 341, 6, 35, "Output",ExpressionUUID->"2f878122-64bc-4ae8-8667-01cdcf65ed7c"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[15557, 343, 501, 11, 55, "Input",ExpressionUUID->"bd9700b2-e7a8-4e50-89dd-94e26b677ce3"],
|
Cell[13809, 310, 550, 12, 55, "Input",ExpressionUUID->"bd9700b2-e7a8-4e50-89dd-94e26b677ce3"],
|
||||||
Cell[16061, 356, 18801, 326, 377, "Output",ExpressionUUID->"453d177f-229c-4e4d-9047-ac6236f40828"]
|
Cell[14362, 324, 8472, 156, 368, "Output",ExpressionUUID->"1d554580-aa2a-4451-b7af-f5450670c8cd"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[34899, 687, 288, 5, 55, "Input",ExpressionUUID->"6e2382e3-be00-4738-b380-b67947d32194"],
|
Cell[22871, 485, 288, 5, 55, "Input",ExpressionUUID->"6e2382e3-be00-4738-b380-b67947d32194"],
|
||||||
Cell[35190, 694, 2188, 44, 239, "Output",ExpressionUUID->"7fa39ef2-0291-4db6-a828-5655fe6d521d"]
|
Cell[23162, 492, 2188, 44, 239, "Output",ExpressionUUID->"7fa39ef2-0291-4db6-a828-5655fe6d521d"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[37415, 743, 252, 4, 31, "Input",ExpressionUUID->"f59e178c-131f-4dbe-a224-900a668b0237"],
|
Cell[25387, 541, 252, 4, 31, "Input",ExpressionUUID->"f59e178c-131f-4dbe-a224-900a668b0237"],
|
||||||
Cell[37670, 749, 26051, 753, 240, "Output",ExpressionUUID->"005e660e-a3cb-455a-aa38-bfb71605e943"]
|
Cell[25642, 547, 26051, 753, 240, "Output",ExpressionUUID->"005e660e-a3cb-455a-aa38-bfb71605e943"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[63758, 1507, 608, 13, 82, "Input",ExpressionUUID->"af4ea829-9f16-4620-aa00-c20b3bfb3945"],
|
Cell[51730, 1305, 608, 13, 82, "Input",ExpressionUUID->"af4ea829-9f16-4620-aa00-c20b3bfb3945"],
|
||||||
Cell[64369, 1522, 364, 7, 35, "Output",ExpressionUUID->"324450e0-efaa-4874-813e-26827ab7e928"],
|
Cell[52341, 1320, 364, 7, 35, "Output",ExpressionUUID->"324450e0-efaa-4874-813e-26827ab7e928"],
|
||||||
Cell[64736, 1531, 387, 8, 35, "Output",ExpressionUUID->"54298d47-7b8b-469d-b52b-3f8da3de3be2"]
|
Cell[52708, 1329, 387, 8, 35, "Output",ExpressionUUID->"54298d47-7b8b-469d-b52b-3f8da3de3be2"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[65160, 1544, 381, 9, 55, "Input",ExpressionUUID->"cbc8f16e-97a5-475f-8071-d73aef03f302"],
|
Cell[53132, 1342, 381, 9, 55, "Input",ExpressionUUID->"cbc8f16e-97a5-475f-8071-d73aef03f302"],
|
||||||
Cell[65544, 1555, 18946, 328, 374, "Output",ExpressionUUID->"eafe3610-11d1-4605-afee-d4fdf3dc26c4"]
|
Cell[53516, 1353, 18946, 328, 374, "Output",ExpressionUUID->"eafe3610-11d1-4605-afee-d4fdf3dc26c4"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[84527, 1888, 288, 5, 55, "Input",ExpressionUUID->"c3a95ca1-f798-4a77-a332-82397c454067"],
|
Cell[72499, 1686, 288, 5, 55, "Input",ExpressionUUID->"c3a95ca1-f798-4a77-a332-82397c454067"],
|
||||||
Cell[84818, 1895, 10949, 313, 242, "Output",ExpressionUUID->"56e9edd5-bbf4-46aa-81e4-1926050b9e16"]
|
Cell[72790, 1693, 10949, 313, 242, "Output",ExpressionUUID->"56e9edd5-bbf4-46aa-81e4-1926050b9e16"]
|
||||||
}, Open ]],
|
}, Open ]],
|
||||||
Cell[CellGroupData[{
|
Cell[CellGroupData[{
|
||||||
Cell[95804, 2213, 349, 6, 31, "Input",ExpressionUUID->"25184dae-8e32-46f2-b4df-4067e177155f"],
|
Cell[83776, 2011, 349, 6, 31, "Input",ExpressionUUID->"25184dae-8e32-46f2-b4df-4067e177155f"],
|
||||||
Cell[96156, 2221, 72585, 1490, 392, "Output",ExpressionUUID->"361b115e-8f0f-45ab-83e8-7704c0daae6c"]
|
Cell[84128, 2019, 72585, 1490, 392, "Output",ExpressionUUID->"361b115e-8f0f-45ab-83e8-7704c0daae6c"]
|
||||||
}, Open ]]
|
}, Open ]]
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
|
|||||||
@ -21,16 +21,21 @@ 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 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 = {76.6938, 11.5453, 64.3988};
|
||||||
// static const Vec3f MAG_OFFSET = {-118.902, 18.8173, -39.209};
|
//static const Vec3f MAG_OFFSET = {62.3746, 9.89597,39.9587};
|
||||||
static const Vec3f MAG_OFFSET = {-135.994629, 19.117216, -33.0};
|
static const Vec3f MAG_OFFSET = {70.8462, 19.7919, 64.0239};
|
||||||
// static const Mat3f MAG_MAT = {0., -0.0281408, 0., -0.0284409, 0., 0.,
|
//static const Vec3f MAG_OFFSET = {0, 0, 0,};
|
||||||
// 0., 0., 0.0261544};
|
//static const Mat3f MAG_MAT = {0., -0.0305935, 0., 0.0294454, 0.,
|
||||||
static const Mat3f MAG_MAT = {0., -0.0335989, 0., -0.0330167, 0.,
|
// 0., 0., 0., 0.0289344};
|
||||||
0., 0., 0., 0.0335989};
|
// static const Mat3f MAG_MAT = {0., -0.034202, 0.,0.028624, 0., 0., 0., 0., 0.0276165};
|
||||||
static const Vec3f GYRO_OFFSET = {-4.33655, -2.76826, -0.908427};
|
//static const Mat3f MAG_MAT = {0., -0.028624, 0.,0.034202, 0., 0., 0., 0., 0.0276165};
|
||||||
static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
|
static const Mat3f MAG_MAT = {0., -0.0279054, 0., 0.0272776, 0., 0., 0., 0., 0.0259509};
|
||||||
|
//static const Mat3f MAG_MAT = {1, 0, 0, 0, 1, 0, 0, 0, 1};
|
||||||
|
//static const Vec3f GYRO_OFFSET = {-2.01854, -2.62769, -0.30177};
|
||||||
|
static const Vec3f GYRO_OFFSET = {-1.99247, -2.48463, 0.294875};
|
||||||
|
//static const Vec3f GYRO_OFFSET = {0, 0, 0};
|
||||||
|
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";
|
||||||
|
|
||||||
@ -79,7 +84,7 @@ bool MPU::Initialize() {
|
|||||||
mpu_bus_ = &i2c0;
|
mpu_bus_ = &i2c0;
|
||||||
// This is shared with the oled, so just use those pins
|
// This is shared with the oled, so just use those pins
|
||||||
mpu_bus_->setTimeout(10);
|
mpu_bus_->setTimeout(10);
|
||||||
mpu_bus_->begin(MPU_SDA, MPU_SCL, 400000);
|
mpu_bus_->begin(MPU_SDA, MPU_SCL, GPIO_PULLUP_DISABLE, GPIO_PULLUP_DISABLE, 400000);
|
||||||
mpu_ = new mpud::MPU(*mpu_bus_);
|
mpu_ = new mpud::MPU(*mpu_bus_);
|
||||||
|
|
||||||
esp_err_t ret;
|
esp_err_t ret;
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user