Browse Source

Recalibrate again

master
Alex Mikhalev 6 years ago
parent
commit
f03c839acf
  1. 6507
      calib/calib.nb
  2. 778
      calib/calibgyro.nb
  3. 27
      main/ugv_io_mpu.cc

6507
calib/calib.nb

File diff suppressed because it is too large Load Diff

778
calib/calibgyro.nb

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@ -670,7 +466,8 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3 @@ -670,7 +466,8 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
Part[#, 1]],
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PlotRange->{{-0.19342117736486603`,
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PlotRangeClipping->True,
PlotRangePadding->{{
Scaled[0.02],
@ -679,8 +476,9 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3 @@ -679,8 +476,9 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
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CellChangeTimes->{{3.764181801868524*^9, 3.764181830670013*^9},
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CellLabel->"Out[12]=",ExpressionUUID->"453d177f-229c-4e4d-9047-ac6236f40828"]
3.764182159643732*^9, 3.766446504295293*^9, {3.768086496400185*^9,
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WindowSize->{808, 911},
WindowMargins->{{486, Automatic}, {68, Automatic}},
WindowMargins->{{496, Automatic}, {6, Automatic}},
FrontEndVersion->"11.3 for Linux x86 (64-bit) (March 6, 2018)",
StyleDefinitions->"Default.nb"
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@ -3730,54 +3528,54 @@ CellTagsIndex->{} @@ -3730,54 +3528,54 @@ CellTagsIndex->{}
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]

27
main/ugv_io_mpu.cc

@ -21,16 +21,21 @@ static constexpr mpud::gyro_fs_t MPU_GYRO_FS = mpud::GYRO_FS_500DPS; @@ -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 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 = {-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 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 Mat3f ACCEL_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
//static const Vec3f MAG_OFFSET = {76.6938, 11.5453, 64.3988};
//static const Vec3f MAG_OFFSET = {62.3746, 9.89597,39.9587};
static const Vec3f MAG_OFFSET = {70.8462, 19.7919, 64.0239};
//static const Vec3f MAG_OFFSET = {0, 0, 0,};
//static const Mat3f MAG_MAT = {0., -0.0305935, 0., 0.0294454, 0.,
// 0., 0., 0., 0.0289344};
// static const Mat3f MAG_MAT = {0., -0.034202, 0.,0.028624, 0., 0., 0., 0., 0.0276165};
//static const Mat3f MAG_MAT = {0., -0.028624, 0.,0.034202, 0., 0., 0., 0., 0.0276165};
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";
@ -79,7 +84,7 @@ bool MPU::Initialize() { @@ -79,7 +84,7 @@ bool MPU::Initialize() {
mpu_bus_ = &i2c0;
// This is shared with the oled, so just use those pins
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_);
esp_err_t ret;

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