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fix MPU calibration

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This commit is contained in:
Alex Mikhalev 2019-05-23 12:05:16 -07:00
parent f01cc5de9a
commit fefcd6e44f
1 changed files with 2 additions and 2 deletions
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4
main/ugv_io_mpu.cc
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@ -21,14 +21,14 @@ 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 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 GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
static const char *TAG = "ugv_io_mpu";