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CALIBRATE_GYRO_ON_START constant

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This commit is contained in:
Oleg Kalachev 2023-03-26 10:49:43 +03:00
parent e039055c8e
commit 127cd58d16
1 changed files with 13 additions and 9 deletions
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20
flix/imu.ino
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@ -5,6 +5,8 @@
#define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection #define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection
const bool CALIBRATE_GYRO_ON_START = false;
MPU9250 IMU(SPI, IMU_CS_PIN); MPU9250 IMU(SPI, IMU_CS_PIN);
void setupIMU() void setupIMU()
@ -19,16 +21,16 @@ void setupIMU()
} }
} }
calibrating = true; if (CALIBRATE_GYRO_ON_START) {
calibrateGyro(); calibrateGyro();
// loadGyroCal(); } else {
// calibrateAccel(); loadGyroCal();
}
loadAccelCal(); loadAccelCal();
IMU.setSrd(0); // set sample rate to 1000 Hz IMU.setSrd(0); // set sample rate to 1000 Hz
// NOTE: very important, without the above the rate would be terrible 50 Hz // NOTE: very important, without the above the rate would be terrible 50 Hz
calibrating = false;
} }
bool readIMU() bool readIMU()
@ -52,6 +54,7 @@ bool readIMU()
static void calibrateGyro() static void calibrateGyro()
{ {
calibrating = true;
Serial.println("Calibrating gyro, stand still"); Serial.println("Calibrating gyro, stand still");
delay(500); delay(500);
int status = IMU.calibrateGyro(); int status = IMU.calibrateGyro();
@ -61,6 +64,7 @@ static void calibrateGyro()
Serial.print(IMU.getGyroBiasY_rads(), 10); Serial.print(" "); Serial.print(IMU.getGyroBiasY_rads(), 10); Serial.print(" ");
Serial.println(IMU.getGyroBiasZ_rads(), 10); Serial.println(IMU.getGyroBiasZ_rads(), 10);
IMU.setSrd(0); IMU.setSrd(0);
calibrating = false;
} }
static void calibrateAccel() static void calibrateAccel()
@ -96,9 +100,9 @@ static void loadAccelCal()
static void loadGyroCal() static void loadGyroCal()
{ {
IMU.setGyroBiasX_rads(-0.0175771303); IMU.setGyroBiasX_rads(-0.0185128022);
IMU.setGyroBiasY_rads(-0.0298212003); IMU.setGyroBiasY_rads(-0.0262369743);
IMU.setGyroBiasZ_rads(0.0148300380); IMU.setGyroBiasZ_rads(0.0163032326);
} }
// Accel bias: 0.0463809967 0.0463809967 0.1486964226 // Accel bias: 0.0463809967 0.0463809967 0.1486964226