diff options
| author | Keith Packard <keithp@keithp.com> | 2013-10-27 23:26:28 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-10-27 23:26:28 -0700 |
| commit | fa7d0ba0efdde3ac9fb4df0589f9ead07b7ffff5 (patch) | |
| tree | 040a6790c9a7151f77a9eda22351358638fe8e01 /src | |
| parent | 58f08c4b3cb9049d0c9cb02cde0d8dbdc3d33920 (diff) | |
altos: Keep 9 more bits of average pad IMU gyro data
This reduces the offset error by a bit, minimizing gyro drift.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src')
| -rw-r--r-- | src/core/ao_sample.c | 22 |
1 files changed, 9 insertions, 13 deletions
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c index 47c5ea2e..b425aee7 100644 --- a/src/core/ao_sample.c +++ b/src/core/ao_sample.c @@ -70,9 +70,9 @@ __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ __pdata accel_t ao_ground_accel_along; __pdata accel_t ao_ground_accel_across; __pdata accel_t ao_ground_accel_through; -__pdata gyro_t ao_ground_pitch; -__pdata gyro_t ao_ground_yaw; -__pdata gyro_t ao_ground_roll; +__pdata int32_t ao_ground_pitch; +__pdata int32_t ao_ground_yaw; +__pdata int32_t ao_ground_roll; #endif static __pdata uint8_t ao_preflight; /* in preflight mode */ @@ -125,9 +125,9 @@ ao_sample_preflight_set(void) ao_ground_accel_along = ao_sample_accel_along_sum >> 9; ao_ground_accel_across = ao_sample_accel_across_sum >> 9; ao_ground_accel_through = ao_sample_accel_through_sum >> 9; - ao_ground_pitch = ao_sample_pitch_sum >> 9; - ao_ground_yaw = ao_sample_yaw_sum >> 9; - ao_ground_roll = ao_sample_roll_sum >> 9; + ao_ground_pitch = ao_sample_pitch_sum; + ao_ground_yaw = ao_sample_yaw_sum; + ao_ground_roll = ao_sample_roll_sum; ao_sample_accel_along_sum = 0; ao_sample_accel_across_sum = 0; ao_sample_accel_through_sum = 0; @@ -162,13 +162,9 @@ ao_sample_rotate(void) #else static const float dt = 1/100.0; #endif - float x = ao_mpu6000_gyro(ao_sample_pitch - ao_ground_pitch) * dt; - float y = ao_mpu6000_gyro(ao_sample_yaw - ao_ground_yaw) * dt; - float z = ao_mpu6000_gyro(ao_sample_roll - ao_ground_roll) * dt; - - float n_2, n; - float s, c; - + float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt; + float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt; + float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt; struct ao_quaternion rot; struct ao_quaternion point; |